Kps (Change Position Loop Gain) - YASKAWA SVC User Manual

4.2 Motion Command Details

4.2.14 KPS (Change Position Loop Gain)

4.2.14 KPS (Change Position Loop Gain)
The KPS command transfers the set value of the OW2E setting parameter (Position Loop
Gain) to the Position Loop Gain SERVOPACK parameter and enables the setting.
Important
Execution and Operating Procedures
1.
Make sure that all of the following conditions are met.
2.
Set the OW08 setting parameter (Motion Commands) to 15 to execute the KPS
motion command.
The value of OW2E is transferred to the Position Loop Gain SERVOPACK parameter and is
enabled.
The IW08 monitor parameter (Motion Command Response Code) is 15 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 position loop gain.
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
Register
Address

OW

OW
Bit 0

OW
Bit 1

OW
4-72
An SVC Function Module can automatically transfer setting parameters to SERVOPACK parame-
ters when they are overwritten. The KPS command is not required if this function is used. Refer to
the following section for details.
3.4 Motion Parameter Details −
Write on page 3-29
No. Execution Condition
1 There must be no alarms.
Motion command execution for the target axis
2
must be completed.*
*
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
Name
08 Motion Commands
09
Hold Command
09
Cancel Command
2E Position Loop Gain

Function Selection Flags 1−
Set this parameter to 15 (KPS) to change the position loop gain.
This bit is ignored for the KPS command.
This bit is ignored for the KPS command.
Set the position control loop gain for the SERVOPACK.

Bit A: SERVOPACK Parameter Auto-
Confirmation Method
Both IL02 and IL04 must be 0.
IW08 must be 0 and bit 0 in
IW09 must be 0.
Setting Details