User Manual Appendix D
GFK-1742F Jan 2020
Tuning Digital and Analog Servo Systems 445
The response shown above illustrates too much Velocity Loop Integral Gain and in most
applications this would be considered unacceptable.
Figure 213: Velocity Loop Step Response Velocity Feedback vs. Time Kp=4000
Ki=7500 VLGN = 0
The result shown above represents a marginally stable system. In this response, there is not
only a significant overshoot, but also a ringing in the velocity response that is slowly being
damped out. The response is unacceptable.
The next step in the tuning process is to connect the motor to the load and then adjust the
control to achieve the desired performance. The Velocity Loop Gain parameter allows the
user to adjust the controller parameters to account for the motor load. As in the procedure
above, start with the Velocity Loop Gain equal to zero.
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