S94P01C -e1
68
S943
9.2.2 Optimal P-gain / D-gain Settings
Position P-gain = 8700
Position D-gain = 16000
Position I-gain = 0
Position I-limit = 0
Positive effect: Position error decreased. Oscillation eliminated by D-gain.
Side effects: Possible high noise produced by high P and D gains at
0 velocity. This problem arises since encoder has finite
resolution. A compromise might have to be made by setting the
P-gain and the D-gain lower to smooth out the operation at 0
velocity.
S944
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