YASKAWA JEPMC-MP2300-Y Series User Manual

7
Motion Commands
7.2.14
Change Position Loop Gain (KPS)
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7.2.14 Change Position Loop Gain (KPS)
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 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
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.
( 2 ) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
Parameter Name Setting
OW

08
Motion Command
The position loop gain is changed when this parameter is set to 15.
OB

090
Command Pause
This parameter is ignored for KPS command.
OB

091
Command Abort
This parameter is ignored for KPS command.
OW

2E
Position Loop Gain
Set the gain for the SERVOPACK position control loop.

YASKAWA JEPMC-MP2300-Y Series Specifications

General

Brand	YASKAWA
Model	JEPMC-MP2300-Y Series
Category	Controller
Language	English