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Text version of the page
TUNE THE SYSTEM GETTING STARTED
2-14 PCIx User’s Manual
The values for KV range from 0 to 249.99.
FIGURE 2-11
The KA variable is used when tuning torque controlled servos (current mode servo
amplifiers.) This is the acceleration feedforward coefficient. Systems with high inertial loads
may require additional torque during acceleration or deceleration to achieve optimum
performance. KA determines how closely the system follows the desired acceleration and
deceleration portions of the motion profile. Increasing this term reduces the following error
occurring during acceleration and deceleration of the system. Although, if KA is too large,
instability may occur.
The values for KA range from 0 to 249.99.
FIGURE 2-12
Desired Step Response
Actual Step Response
Constant Velocity Following Error
Desired Step Response
Actual Step Response
Acceleration/Deceleration
Following Error