Minimize Position Error - Servo Tuning Solutions

This eLearning video demonstrates how to minimize the position error in a servo mechanism two different ways; first using Tuning-less response level with 100% feed forward (Pn109), and then using the result of Advanced Auto Tuning in standard mode without Model Following Control (Pn140), but with 100% feed forward (Pn109).
Similar tuning videos at • Training: Servo Tuning...
This eLV is also available on the Yaskawa America, Inc. - Drives & Motion Division learning management system, "Learn with Yaskawa". Keyword: eLV.Sigma7.06.PosError
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My VMC is not talking loop gain... What should I replace?