IAI America ZR-M - Manual (Page 44)

30
12.3 Position Gain
If the position gain is different for each axis during CP operation (interpolated operation) involving an
orthogonal axis and the Z-axis or R-axis of a ZR unit, the locus may be affected depending on the operating
conditions.
Accordingly, it is recommended that the same position gain be set for all axes.
Adjust the position gain using Axis-specific Parameter No. 60 of your controller (XSEL-P/Q). For the
method to change this parameter, refer to the operation manual for your PC software.
* CP operation commands:
“PATH, CIR, ARC, PSPL, CIR2, ARC2, ARCD, ARCC, CIRS, ARCS, ARCH, PACH, MOVL, MVLI,
PMVL, etc.”
However, each position gain must be the same for the Z-axis and R-axis of the ZR regardless of the
operating conditions such as presence/absence of an orthogonal axis, CP operation, or PTP operation.