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.
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