5
Motion Commands
5.2.14
Change Position Loop Gain (KPS)
5-84
5.2.14 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.
( 1 ) Operating Procedure
( 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.
Execute the
KPS
motion command.
• Set OW
08 to 15.
• With the MECHATROLINK-II, there is the function that the change of
setting parameter is automatically updated. If utilizing this function,
there is no need to execute KPS command. For details, refer to bit A
(User Constants Self-Writing Function) in Fixed Parameter 1 (Function
Selection 1).
• The Command Pause (OB
090) cannot be used.
• The Command Abort (OB
091) cannot be used.
The Position Loop Gain is set in the Servopack
and enabled.
• IW
08 will be 15 during command
execution.
• IB
090 will be ON during command
execution.
Parameter change completed.
• IW
08 will be 15 and IB
090 will be
OFF.
Execute NOP motion command.
• Set OW
08 to 0.
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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