GE IS215UCCAM03A Communication module

In general, the higher the value of KPP, the faster the settling time. However, trying to set KPP to a high value with inadequate velocity loop bandwidth results in overshoot and ringing. A good trade off is to set KPP 0.2 times the velocity loop bandwidth. Slightly higher values can be used if overshoot can be tolerated.

KVFF is the velocity feed forward gain. 

In the absence of velocity feed forward (KVFF = 0), the commanded velocity is proportional to the position (following) error. This means that the actual position lags the commanded position by a value proportional to the speed. The error is smaller for larger values of KPP. The following table gives a feel for the following error magnitude.Following error can easily exceed one complete motor revolution. In many electronic gearing applications, such following errors are not acceptable (real gears don’t have following errors!) Also, stepper systems don’t have such errors.

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