ServoLoopGainKip Parameter

Default Value: 1.0

Minimum Value: 0.0

Maximum Value: 100000.0

Units: hz

Type: double

Tip: To automatically tune and optimize an axis in a new or existing system, you can use the EasyTune feature. This feature is in the Axes > Servo section of the Configure workspace in Automation1 Studio. After EasyTune completes, the optimized servo gains and servo filters are committed to the controller.

The ServoLoopGainKip parameter sets the frequency at which the primary behavior of the controller changes from an integral response to a spring-like proportional gain. In feedback control theory, this parameter value is the location of the lower-frequency real-axis zero of the transfer function of a Proportional-Integral-Derivative (PID) controller in units of Hz. If you increase the value of the ServoLoopGainKip parameter, the controller feedback path increases the control effort more quickly when it tries to correct for a steady error input. For the typical implementation of the servo loop, set the ServoLoopGainKip parameter to half the value of the ServoLoopGainKiv Parameter.

IMPORTANT: When the ServoLoopGainKip2 Parameter has a non-zero value, make sure that the ServoLoopGainKip parameter is set to zero.