Instruction Manual

232 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
KPZ
Proportional Gain Zone, Position Regulator Gain
Purpose Set the proportional gain to be used instead of KP in the region defined by PZONE.
The units of KPZ are inches/minute/mil or meters/minute/millimeter. Whenever the
position error is less than PZONE, the position regulator uses KPZ for the proportional
gain, otherwise it uses KP. If PZONE is zero, the KPZ gain is never active.
Syntax KPZ = value
variable = KPZ
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 KPZ = 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.
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, Gains dialog Box
See Also PZONE, KP, KI, IZONE, KFF
Example
KPZ = 4
KPZ = G10
G3 = KPZ
LABELS
Program Labels Program Structure
Purpose Assign the present statement as a target location used by a JUMP instruction. A label
can be up to 32 characters long. Labels cannot be keywords or reserved words. They
must begin with a letter and contain only alphanumeric characters and underscores
( _ ), and must be followed by a colon.
Syntax LABELS:
Remarks Labels may be inserted anywhere in the program.
See Also JUMP
Example
mylabel:
Main3:
JUMP mylabel