224 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 9 Tuning
ID191 (P2.006) VelocityIntegralGain [KVI]
KVI is used to provide better tracking during motion. The larger the value, the
smaller the tracking error. Set the value as follows:
ID210 (P2.025) ResonanceSuppressionLowPassFilterTime [NLP]
A large inertia mismatch forces a reduction in the frequency response of the
velocity loop. Therefore, you must increase the KVP value to maintain the
response frequency. Increasing KVP value might cause machinery resonance.
Use this parameter to mitigate the resonance. The higher the value, the better
the capability for reducing high-frequency noise. However, if you set the value
too high, it can cause instability in the velocity loop and overshoot in
positioning. It is suggested that you set the value as follows:
ID211 (P2.026) AntiInterferenceGain [DST]
Use this parameter to increase the ability to resist external force and mitigate
overshoot during acceleration / deceleration. The default value is 0. This value
is not typically set when you use Manual Tuning. It is set when you use Mode 1,
Mode 2, or Autotune.
KVI (P2.006) 0KviKvp4 
NLP (P2.025)
10000
6 Speed loop frquency response (Hz)ï‚´
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