Lenze PositionServo 940, User Manual

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S94P01B
58
9.1.2 I-gain
Velocity P-gain = 18000.
Velocity I-gain = 2396
Gain Scaling = -1
I-gain is increased to allow small velocity overshoot, (~10%), as a step response.
This setting is very application dependent. If in your application a high and more flat
response is expected then leave this value so that the overshoot is no more then
10%. If your application requires stiffness at zero or near zero velocity and long term
stability is desired you can increase I-Gain so that the overshoot reaches 30% (see
next section).
S938
Large I-Gain
I-Gain 7935. Overshoot 20%
The I-gain setting is very application dependent. If in your application requires a high
and flat response then the I-gain should be set to give an overshoot of no more than
10%. If your application requires stiffness at zero or near zero velocity and have long
term stability you can increase the I-Gain so that the overshoot reaches 30% (see
below).
S939