Delta ASDA-A3 Series User Manual page 183

Operation Mode
Theoretically, a stepping response can be used to explain proportional gain (KVP), integral gain
(KVI), and feed forward gain (KVF). Here, the time domain is used to illustrate the basic
principle.
6
Time domain
6-22
The higher the KVP value, the larger the
bandwidth. The time of the speed
increase will also be shorter. However,
if the value is set too high, the phase
margin is too small. The effect is not as
good as KVI for the steady-state error
but is better for the effect on following
error.
The higher the KVI value, the larger the
low-frequency gain. It shortens the time
for the steady-state error to reduce to
zero. However, it does not significantly
reduce the following error.
The closer the KVF value is to 1,
the more complete the forward
compensation. The following error
becomes very small. But a KVF value
that is set too high also causes vibration.
ASDA-A3