Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 253)

Language Reference • Reference 231
Publication 1398-PM601A-EN-P — October 2000
WORDS
KP Proportional Gain, Position Regulator Gain
Purpose Set the proportional gain to a new value. The position regulator proportional gain may
be changed at any time in the program.
Syntax KP = value
variable = KP
value The value is entered in distance units/minute per thousandth of
a distance unit. The value can be a constant, a nonvolatile vari-
able Gn, a volatile variable Vn, or a system variable.
variable The variable can be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks KP = 1 means that if there is 1 thousandth of a distance unit of following error, the
resulting velocity command will be 1 distance unit/minute. For example:
• If distance units are inches, KP = 1 means 1 inch/minute/mil
(1/1000 inch).
• If distance units are meters, KP = 1 means 1 m/minute/mm
(1/1000 meter).
Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gain dialog box.
See Also KPZ, PZONE, KI, IZONE, KFF
Example KP = 2.5
KP = V12
V13 = KP