User Manual Appendix D
GFK-1742F Jan 2020
Tuning Digital and Analog Servo Systems 446
Figure 214: Velocity Loop Step Response Velocity Feedback vs. Time Kp=4000 Ki=30
VLGN = 0
The figure above shows the motor velocity response with a load connected to the motor
and the motor tuned per the exercise above. The performance is acceptable, but by
increasing the Velocity Loop Gain the rise time can be decreased.
Figure 215: Velocity Loop Step Response Velocity Feedback vs. Time Kp=4000 Ki=30
VLGN = 16
The response shown above is acceptable. The response has a slight overshoot but no
sustained oscillation or ringing.
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