Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 146)

5-66 Understanding IMC-S/23x Setups
Publication 999-122 - January 1997
Using the Position Error Integrator
After displaying the measured servo performance, the IMC-S/23x
displays
prompting you to decide whether or not to use integral gain in the
position loop. In general, you should use the position error integrator
with torque loop amplifiers and you should not use the position error
integrator with analog velocity loop amplifiers. If you are using a digital
velocity loop amplifier, the velocity integrator in the amplifier must be
disabled to use the position integrator in the motion controller. To use
integral gain in the position loop, toggle to
YES and press ENTER.
Using Velocity Feedforward
After deciding whether or not to use integral gain in the position loop,
the IMC-S/23x displays
prompting you to decide whether or not to use velocity feedforward in
the position loop. If near-zero position error over the entire speed range
of the axis is necessary for your application, toggle to
YES and press
ENTER. This sets the feedforward gain to the value that produces the
smallest position error during constant velocity motion.
Even though feedforward gain operates on the axis command position
(see Technical Overview earlier in this manual) and therefore has no
effect on system stability, it does affect the appearance of motion
profiles. Higher F gain values produce greater velocity overshoot at the
end of acceleration ramps and position overshoot at the end of moves.
If position overshoot cannot be tolerated in your application, toggle to
NO and press ENTER. This sets the F gain to zero.
Position Bandwidth (Hz) =
Use Position Error Integrator? NO
Use Position Error Integrator? NO
Use Velocity Feedforward? NO