Rockwell Automation 1398-DDM-xxx USE MNL/ULTRA 200 DIG.SERVO.DR - Manual (Page 181)

Publication 1398-5.0 – October 1998
Tuning 9-11
Figure 9.4 Underdamped Signal
Intro
Figure 9.5 Overdamped Signal
Intro
UNDERDAMPED
Decrease P-gain
Decrease I-gain
Motor Velocity consistently overshoots
the Velocity Command. To correct:
OVERDAMPED
Increase I-gain
Motor Velocity consistently undershoots
the Velocity Command. To correct:
Increase P-gain