Lenze E94P PositionServo with MVOB - Manual (Page 81)

S94H201E_13426446_EN L 79
Operation
Gain Scaling set OK
Motor Velocity resembles Commanded
Velocity. Motor Velocity is reasonably close
with a slight overshoot.
Gain Scaling set too HIGH
Motor Velocity shows significant overshoot
following the acceleration periods.
Gain Scaling set significantly too HIGH
Motor Velocity exhibits instability throughout
the steady state Commanded Velocity.
Depending on the system begin tuned, the motor may go from stable operation (little to no overshoot
with stable steady state velocity) to instability (continuous and pronounced oscillations during steady state
command) very quickly as gains scaling is increased. The bandwidth for allowing some overshoot with a
quick settle time may be very small and may only be achieved through adjustment of the Velocity P-Gain, as
described in Step 2. Set the gain scaling parameter to the value preceding that where significant overshoot
or continuous instability occurs. With the Gain scaling parameter set move onto tuning the velocity P and
I gains.