Servotronix CDHD2S - Page 237

Tuning
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Figure 8-46 KNLD=50
6. Gradually increase the KNLP (HD proportional gain) value until the position error
decreases.
Figure 8-47 KNLD=20
Figure 8-48 KNLD=50
7. Increase the KNLI (HD integral gain) value to reduce the static error.
The maximum value of KNLI should be less than
2
KNLP
.