8.16 Change Feed Forward (KFS)
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8.16 Change Feed Forward (KFS)
The KFS command transfers the setting of the Speed Feed Forward Compensation (motion setting parameter
OW
30) to the Feed Forward in the SERVOPACK and enables the setting.
(1) Operating Procedure
(2) Holding and Aborting
The Command Pause bit (OB
090) and the Command Abort bit (OB
091) cannot be used.
(3) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
No.
Execution Conditions
Confirmation Method
1
There are no alarms.
Both IL
02 and IL
04 are 0.
2
Motion command execution has been completed.
IW
08 is 0 and IB
090 is OFF.
Execute the
KFS
motion command.
• Set OW
08 to 16.
• With the MECHATROLINK-II, there is the function that the
change of setting parameter is automatically updated. If utilizing
this function, there is no need to execute KFS command. For
details, refer to
7.2.1 Motion Fixed Parameter Details
.
• The Command Pause (OB
090) cannot be used.
• The Command Abort (OB
091) cannot be used.
The Feed Forward is set in the SERVOPACK
and enabled.
• IW
08 will be 16 during command
execution.
• IB
090 will be ON during command
execution.
Parameter change completed.
• IW
08 will be 16 and IB
090 will be
OFF.
Execute NOP motion command.
• Set OW
08 to 0.
Parameter
Name
Setting
OW
08
Motion Command
The feed forward value is changed when this parameter is set to 16.
OB
090
Command Pause
This parameter is ignored for KFS command.
OB
091
Command Abort
This parameter is ignored for KFS command.
OW
30
Speed Feed
Forward Compen-
sation
Set the amount of Servo feed forward (%).
Parameter
Name
Monitor Contents
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 16 during KFS command execution.
IB
090
Command Executing
Turns ON during KFS command execution and turns OFF when execution has
been completed.
IB
091
Hold Completed
Always OFF for KFS command.
IB
093
Command Error End
Turns ON if an error occurs during KFS command execution. Turns OFF when
another command is executed.
IB
098
Command
Completed
Turns ON when KFS command execution has been completed.