S94P01C -e1
65
9.1.2 I-gain
Velocity P-gain = 18000
Velocity I-gain = 2396
Gain Scaling = -1
I-gain is increased to allow small velocity overshoot, (~10%), as a step response.
This setting is very application dependent. If a high and flat response is expected in
the application, then leave this value so that the overshoot is no more than 10%. If
the application requires stiffness at zero or near zero velocity and long term stability is
desired increase I-Gain so that the overshoot reaches 30% (see next section).
S938
Large I-Gain
I-Gain = 7935
Overshoot = 20%
The I-gain setting is very application dependent. If the application requires a high and
flat response then the I-gain should be set to produce an overshoot of no more than
10%. If the application requires stiffness at zero or near zero velocity and has long
term stability increase the I-Gain so that the overshoot reaches 30% (see below).
S939
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