Lenze PositionServo 940, User Manual

Page: 63 / 68

S94P01B
61
S943
9.2.2 Optimal P-gain / D-gain settings
Position P-gain = 8700
Position D-gain = 16000
Position I-gain = 0
Position I-limit = 0
Positive effect:
Position error decreased. Oscillation eliminated by D-gain.
Side effects: Possible high noise produced by high P and D gains at
0 velocity. This problem arises since encoder has finite
resolution. A compromise might have to be made by setting the
P-gain and the D-gain lower to smooth out the operation at 0
velocity.
S944
P and D gains setting check (problem).
Position P-gain = 12673
Position D-gain = 16000
Position I-gain =
0
Position I-limit = 0