Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 221
Chapter 9 Tuning
ID185 (P2.000) PositionProportionalGain [KPP]
This parameter determines the response of the position loop. The larger the
KPP value, the higher the response frequency of the position loop. This lowers
following error and position error, and shortens the settling time. However, if
you set the value too high, it can cause instability. The calculation of position
loop frequency response is as follows:
ID 235 (P2.053) PositionIntegralGain (Kpi)
This gain may not be used (zero). This gain is used in positioning and tracking
applications to improve the steady-state positioning . Set this gain such that:
0 ≤ Kpi ≤ Kpp/4
See Nested P-I Loop Gain Adjustment
on page 218 for more information.
ID187 (P2.002) VelocityFeedforwardGain [PFG]
This parameter can reduce the position error and shorten the settling time.
However, if you set the value too high, it might cause overshoot in positioning.
Frequency response bandwidth of position loop (Hz)
KPP
2
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