Yaskawa DR2 Sigma Servo - Manual (Page 454)

B.4 Gain Setting References
443
2) When a speed-control Servopack is used, set the position loop gain at the host controller.
If the position loop gain cannot be set at the host controller, adjust the Servopack speed
reference gain (Cn-03).
The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode
only.
The position loop gain is determined from the following relationship.
K
P
[1/s]: Position loop gain
VS [PPS]: Steady speed reference
ε: (pulse): Steady error
(The number of pulses in the error counter at steady speed.)
K
p
=
VS
Á B