3.177 EDH0162En1040 – 06/99
MM4005 XP — Read proportional gain factor
Usage IMM PGM MIP
Syntax xxXP
Parameters
Description xx
[int] — Axis number.
Range xx — 1 to 4.
Units xx
— None.
Defaults xx Missing: Error B.
Out of range: Error B.
Floating point: Error A.
Description This command reads the proportional gain factor of an axis.
NOTE
The command reads the value actually used in the servo loop. If the PID
parameters are modified using the KP command but the digital filter has
not been updated by sending an UF, the command will still read the old
value.
Returns xxXPnn
xx
— Axis number.
nn — Proportional gain factor.
Errors A — Unknown message code.
B — Incorrect axis number.
S — Communication time-out.
Rel. Commands KP — Set proportional gain.
TF — Read filter parameters.
UF — Update servo filter.
Example 2XP | Read proportional gain factor of axis #2.
2XP0.005
| Controller returns an proportional gain factor of 0.005.
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