Rockwell Automation GMLC Reference Manual - Manual (Page 150)

Publication GMLC-5.2 - November 1999
Adjusting Gains Values for the Servo Axis 113
Note: Increase the integral gain to increase the ultimate positioning
accuracy of the system. If the integral gain is too high, the system
becomes unstable.
3. In the Velocity Loop area, make entries in the following fields:
• Velocity Gain – Select the up or down arrows to change the speed
of velocity changes.
Note: When using a torque (current) loop servo amplifier, the
synthesized velocity loop provides damping without requiring an
analog tachometer. Increased V gain results in smoother motion,
enhanced acceleration, reduced overshoot, and greater system
stability.
• Velocity P Gain (100%IR/KRPM) – Select the up or down arrows
to change the digital drive velocity loop P gain.
• Feedforward Gain – Select the up or down arrows to reduce the
error of the system, due to velocity (position error while the axis
is moving), to nearly to zero.
• Velocity Filter Bandwidth – Select the up or down arrows to
change the value of the digital drive’s velocity loop bandwidth.
4. In the Output Compensation area, make entries in the following
fields:
• Deadband Compensation – Select the up or down arrows to
change the voltage of the deadband compensation.
Note: It is generally unnecessary to alter the value calculated from an
auto-tuning procedure.
Note: For a velocity loop servo amplifier, adjust the drive-offset
compensation.
Note: For torque or dual servo drive interface type only.
• Drive Offset – Select the up or down arrows to change the drive
offset for this axis.