Rockwell Automation GMLC Reference Manual - Manual (Page 146)

Publication GMLC-5.2 - November 1999
Defining Gains 109
Note: Increasing this number decreases response time and increases the
stiffness of the servo system. If the value is too high, the system
becomes unstable.
Integral Gain
A value, in position units per millisecond squared.
Note: Increasing this number improves positioning accuracy of the
servo system. If the value is too high, the system becomes
unstable.
Velocity Feedforward Gain
The number of position units that allows the following error (position
error while the axis is moving) of the system due to velocity, to be
reduced to near zero.
Velocity Gain
A value, in millivolts/counts per millisecond.
Increasing this value results in smoother motion, enhanced acceleration,
reduced overshoot, and greater system stability. Too high a value leads to
high frequency instability.
Important: For IMC S Class 1394/1394 Turbo and Compact controllers
only.
Velocity P Gain
A value, in % of I Rated per thousand RPM, to change the digital drive
velocity loop Proportional gain.
Important: For IMC S Class 1394/1394 Turbo controllers only.
Velocity Filter Bandwidth
A value, in Hertz, limiting the DSP sub-system’s response to changes in
commanded velocity for the axis.
Lower values provide for smoother system operations. However, if a
value is too low, a phase error can result.