Instruction Manual

Language Reference • Reference 231

Publication 1398-PM601A-EN-P — October 2000

WORDS

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.