VL.KI and PL.KP together

Referenced Keywords

Parameter	Description	Drive Keyword
PL.KP	Position Loop Proportional Gain	AXIS#.PL.KP
VL.KI	Velocity Loop Integral Gain	AXIS#.VL.KI
VL.KP	Velocity Loop Proportional Gain	AXIS#.VL.KP

When viewing the frequency response of tuning parameters together, analysis is very simple – just add them all together!

Drawing from the two previous examples (VL.KI - Velocity Loop Integral Gain and VL.KP - Velocity Loop Proportional Gain6 ), use:

• VL.KP of 0.100 that yielded a system gain of -20 dB

• VL.KI of 10.000 that yielded system gain of +3 dB at 10 Hz phase decrease of -45 degrees at 10 Hz

• PL.KP of 62.28 that yielded a system gain of +3 dB at 10 Hz phase decrease of -45 degrees at 10 Hz

Added together, a system gain of -20 dB at high frequencies is achieved, with low frequencies increasing in gain with +6 dB at 10 hz, and a phase of -90 degrees at 10 Hz