Rockwell Automation 1398-DDM-xxx ULTRA 100 Series Drives Installation Manual - Manual (Page 177)

Publication 1398-5.2 – PDF 1997
Tuning 9-11
Figure 9.5 Overdamped Signal
Intro
Figure 9.6 Critically Damped Signal (Ideal Tuning)
Intro
OVERDAMPED
Increase I-gain
Motor Velocity consistently undershoots
the Velocity Command. To correct:
Increase P-gain
CRITICALLY DAMPED
Motor Velocity quickly settles to
the Velocity Command.