Leadshine ACS606 - Page 21

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Tel: (86)755-26434369 36 Website: www.leadshine.com
Figure 40: Position following error curve and velocity curve (Kp=6000, Ki=1000 and Kd=8500)
Figure 41: Position following error curve and velocity curve (Kp=6000, Ki=1400 and Kd=8500)
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Tel: (86)755-26434369 37 Website: www.leadshine.com
Figure 42: Position following error curve and velocity curve (Kp=6000, Ki=1600 and Kd=8500)
Increasing Kp a little and reducing Ki to 1400 can achieve a faster response with
little overshoot, namely get a response close to Critically Damped response. See
Figure 43. Remember to download the parameter settings to the drive’s EEPROM
when you get a satisfying performance. You can also save them to a config file on
the PC harddisk then use these parameters for other drives. See detail in next
chapter.