Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 146)

Publication 1784-UM003A-EN-P – June 2003
138 Naming & Configuring Your Motion Axis
Due to the destabilizing nature of Integral Gain, it is recommended that
Position Integral Gain and Velocity Integral Gain be considered mutually
exclusive. If Integral Gain is needed for the application, use one or the other,
but not both. In general, where static positioning accuracy is required, Position
Integral Gain is the better choice.
While the Vel I Gain, if employed, is typically established by the automatic
servo tuning procedure (in the Tune tab of this dialog box), the Pos I Gain
value may also be set manually. Before doing this it must be stressed that the
Torque Scaling factor for the axis must be established for the drive system, in
the Output tab of this dialog box. Once this is done the Vel I Gain can be
computed based on the current or computed value for the Vel P Gain using
the following formula:
Vel I Gain = 0.25 * 0.001 Sec/mSec * (Vel P Gain)2
The typical value for the Velocity Proportional Gain is ~15 mSec-2.
Integrator Hold
If the Integrator Hold parameter is set to:
• Enabled, the servo loop temporarily disables any enabled position or
velocity integrators while the command position is changing. This
feature is used by point-to-point moves to minimize the integrator
wind-up during motion.
• Disabled, all active position or velocity integrators are always enabled.