YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.14 Change Position Loop Gain (KPS)
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6.2.14 Change Position Loop Gain (KPS)
The KPS command transfers the setting of the Position Loop Gain (motion setting parameter OW2E) to the Posi-
tion 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 Func-
tion) in 4.4.1 ( 2 ) Function Selection 1.
( 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 parameter OW2E) to
the Position Loop Gain in the SERVOPACK and enables the setting.
IW08 will be 15 during command execution.
IW09, bit 0 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 Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used.
When the tuning-less function of the SGDV or SGD7S SERVOPACK is enabled or when the SERVOPACK parameter
Pn170.0 is set to 1 (Tuning-less Function Selection is enabled), these settings are disabled and ignored.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring 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 IW09, bit 0 is OFF.
Parameter Name Setting
OW08 Motion Command
The position loop gain is changed when this parameter is set to 15.
OW09
Bit 0
Holds a Command
This parameter is ignored for KPS command.
OW09
Bit 1
Interrupt a Command
This parameter is ignored for KPS command.
OW2E Position Loop Gain
Set the gain for the SERVOPACK position control loop.
Parameter Name Monitor Contents
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command
Response Code
Indicates the motion command that is being executed.
The response code is 15 during KPS command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during KPS command execution and turns OFF when execution has been
completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for KPS command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during KPS command execution.
Turns OFF when another command is executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when KPS command execution has been completed.

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English