S94P01C -e1
64
To increase the P-gain setting we need to set “Gain Scaling” one notch higher. This is
done by changing the “Gain Scaling” setting from (-2) to (-1).
After changing the “Gain Scaling” setting, set the P-gain to 16000 (approximately
the middle of the scale) and restart the drive. Then slowly increase the P-gain again.
(Reference the next section).
Velocity P-gain
= 20322
Velocity I-gain
= 20
Gain Scaling = -1
We start to see a small overshoot at the leading edge of the Motor Velocity wave, but
the current doesn’t increase anymore. This is how fast the motor can reach the set
velocity with current limit selected. Any further increase in gain will only increase the
overshoot and will not improve the response.
P-gain should be decreased slightly, (approximately 10%), to remove the overshoot.
The final value for the P-gain should be 18000.
S937
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