The Cause of Position Overshoot • The closer a loop to the load, the higher loop gain it should be. • In Delta system, the speed loop gain had better to set to 4 times over the position loop gain for not producing position overshoot. That’s a general rule, not always but usually. Fast Gain Slow Gain Position Overshoot Slow Gain Fast Gain Position Match Position Command Position Loop Speed Loop Torque Loop Loop Gains Do Not Match