4.2 Motion Command Details
4.2.15 KFS (Change Feedforward)
4-74
4.2.15
KFS (Change Feedforward)
The KFS command transfers the set value of the OW
30 setting parameter (Speed Feed-
forward Compensation) to the Feedforward SERVOPACK parameter and enables the setting.
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
*
Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command
on page 4-137
2.
Set the OW
08 setting parameter (Motion Commands) to 16 to execute the KFS
motion command.
The value of OW
30 is transferred to the Feedforward SERVOPACK parameter and is enabled.
The IW
08 monitor parameter (Motion Command Response Code) is 16 during execution of this
command.
During command processing, bit 0 (Command Execution Flag) in the IW
09 monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
3.
Set OW
08 to 0 to execute the NOP motion command.
This concludes the process for changing the feedforward compensation.
Holding and Canceling Commands
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW
09 setting parameter can-
not be used to stop the axis.
Related Parameters
The parameters that are related to this command are listed in the following table.
Setting Parameters
An SVC Function Module can automatically transfer setting parameters to SERVOPACK parame-
ters when they are overwritten. The KFS command is not required if this function is used. Refer to
the following section for details.
3.4 Motion Parameter Details
−
Function Selection Flags 1
−
Bit A: SERVOPACK Parameter Auto-
Write
on page 3-29
No.
Execution Condition
Confirmation Method
1
There must be no alarms.
Both IL
02 and IL
04 must be 0.
2
Motion command execution for the target axis
must be completed.
*
IW
08 must be 0 and bit 0 in
IW
09 must be 0.
Register
Address
Name
Setting Details
OW
08
Motion Commands
Set this parameter to 16 (KFS) to change the feedforward compensa-
tion.
OW
09
Bit 0
Hold Command
This bit is ignored for the KFS command.
OW
09
Bit 1
Cancel Command
This bit is ignored for the KFS command.
OW
30
Speed Feedforward
Compensation
Set the feedforward amount for the SERVOPACK as a percentage.
Important
Summary of Contents for SVC
Page 34: ...2 6 4 Reference Output Timing 2 20 2 6 5 Precautions When Combining with Other Modules 2 21...
Page 383: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 42...
Page 387: ...5 2 Absolute Encoders 5 2 6 Position Management Method for Each Machine Operation Type 5 46...