Rockwell Automation 1398-DDM-xxx USE MNL/ULTRA 200 DIG.SERVO.DR - Manual (Page 180)

Publication 1398-5.0 – October 1998
9-10 Tuning
17. Enable the drive.
The position loop has been tuned. The drive may be operated as a
master encoder, step/direction or step up/down configuration.
Velocity Loop Tuning Examples
Figure 9.3 Signal Nomenclature
Intro
Transient State
VELOCITY
TIME Settle Time Rise Time
Following Error
or
Steady State Error Overshoot
Steady State
Undershoot