Change Position Loop Gain (Kps) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.14 Change Position Loop Gain (KPS)

7.2.14 Change Position Loop Gain (KPS)
( 1 ) Executing/Operating Procedure
No.
1
2
( 2 ) Holding and Aborting
( 3 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW 08 Motion Command
OB 090
Command Pause
OB 091
Command Abort
OW 2E Position Loop Gain
7-64
The KPS command transfers the setting of the Position Loop Gain (motion setting parameter
OW 2E) to the Position Loop Gain in the SERVOPACK and enables the setting.
MECHATROLINK-II has a function that automatically updates setting parameters if a parameter
changes. There is no need to execute the KPS command with this function. For details, refer to bit
A (User Constants Self-Writing Function) in 6.4.1 ( 2 ) Function Selection 1 on page 6-18.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
There are no alarms.
Motion command execution has been completed.
2.
Set OW 08 to 15 to execute the KPS motion command.
The KPS command will transfer the setting of the Position Loop Gain (motion setting parame-
ter OW 2E) to the Position Loop Gain in the SERVOPACK and enables the setting.
IW 08 will be 15 during command execution.
IB 090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.
3.
Set OW 08 to 0 to execute the NOP motion command to change the position loop
gain.
The Command Pause bit (OB
Name
The position loop gain is changed when this parameter is set to 15.
This parameter is ignored for KPS command.
This parameter is ignored for KPS command.
Set the gain for the SERVOPACK position control loop.
Both IL
IW 08 is 0 and IB
090) and the Command Abort bit (OB
Setting
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
091) cannot be used.