Rockwell Automation 1771-QC , D17716.5.25 SER/B SERVO POS - Manual (Page 106)

Formatting and Interpreting Data Blocks
Chapter 7
7Ć24
low, following error becomes relatively larger, because the system is not
as responsive to changes in following error. Choose a gain value to match
the capability of your axis drives, motors, and mechanics, and provide
adequate system response.
Figure 7.14
Following Error Vs. Speed for Various Gains
Analog Output
Voltage
(Axis Speed)
High Gain,
Low Following Error
Low Gain,
High Following Error
Following Error
Low Gain
High Gain
11036
Parameter block values for gain and in-position band must provide a
stable system and maintain desired positioning accuracy. If gain is too
high, the axis may overshoot programmed endpoints and oscillate, or
“hunt,” about them. If gain is too low, the axis may stop before it is
within the desired in-position band. You can increase in-position band,
but this decreases positioning accuracy.
Use bit 15 of this word to select the encoder lines multiplier. This
encoder lines multiplier you select, times the encoder lines value you
select in the previous word, must match the number of lines per revolution
of the encoder.