Change Position Loop Gain (Kps) - YASKAWA MP2100 Series User Manual

8.15 Change Position Loop Gain (KPS)

The KPS command transfers the setting of the Position Loop Gain (motion setting parameter OW
Position Loop Gain in the SERVOPACK and enables the setting.
(1) Operating Procedure
No.
1 There are no alarms.
2
Motion command execution has been completed.
Execute the KPS motion command.
• Set OW 08 to 15.
The Position Loop Gain is set in the
Servopack and enabled.
• IW 08 will be 15 during command
execution.
• IB 090 will be ON during command
execution.
Parameter change completed.
• IW 08 will be 15 and IB
OFF.
Execute NOP motion command.
• Set OW 08 to 0.
(2) Holding and Aborting
The Command Pause bit (OB
Execution Conditions
090 will be
090) and the Command Abort bit (OB
8.15 Change Position Loop Gain (KPS)
Confirmation Method
Both IL 02 and IL
IW 08 is 0 and IB
• 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 KPS command. For
details, refer to 7.2.1 Motion Fixed Parameter Details.
• The Command Pause (OB
• The Command Abort (OB
091) cannot be used.
2E) to the
04 are 0.
090 is OFF.
090) cannot be used.
091) cannot be used.
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