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Servotronix CDHD2S User Manual page 237

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Tuning
6. Gradually increase the KNLP (HD proportional gain) value until the position error
decreases.
7. Increase the KNLI (HD integral gain) value to reduce the static error.
The maximum value of KNLI should be less than
—237
—
Figure 8-46 KNLD=50
Figure 8-47 KNLD=20
Figure 8-48 KNLD=50
KNLP
2
.

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