8.15 Change Position Loop Gain (KPS)
8-59
8
8.15 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.
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
7.2.1 Motion Fixed Parameter Details
.
• 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.
