Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 225)

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 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.