Yaskawa LEGEND-MC - Manual (Page 155)

145
LEGEND-MC User’s Manual
KP (Proportional Constant)
[Tuning]
DESCRIPTION:
KP designates the proportional constant in the controller filter. The filter transfer function is
D(z) = 4 * KP + 4 * KD(z-1)/z + KI z/2(z-1)
For further details see the section Theory of Operation.
ARGUMENTS: KP x, y, z, w or KPX=x or KP a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_KPn contains the value of the proportional constant where n is an axis letter.
RELATED COMMANDS:
While Moving Yes Minimum Value 0
In a Program Yes Maximum Value 1023.875
Command Line Yes Default Value 1
Can be Interrogated Yes Default Format 4.2
Used as an Operand Yes Distributed Control Specific Axis
"KP" Proportional Gain
"KI" Integral constant