Delta ASDA-A3 Series User Manual page 365

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.
Time domain
6
6-24
The higher the KVP value, the larger
the bandwidth. The time of the speed
increase will also be shorter. However,
if the KVP 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