Hiwin D1-N Series Assembly And Commissioning Instructions page 149

Figure 9.45: Position error after increasing the "Common Gain"
The optimum value for the "Common Gain" is highly dependent on the motor used
and its application. Proceed as shown above to establish the "Common Gain". Use
the scope function to display the values of importance to your application (e.g. the
"position error"). Keep the motor moving and watch the values while gradually and
slowly changing the "Common Gain" until you find the best possible motor behav-
iour.
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Assembly and Commissioning Instructions Servo amplifier D1-N  15.10.2015