I am using IONI drives for establishing a velocity loop with a 22bits absolute encoder. After a quick tuning trial, I found that the motor would give the best performance with a P gain and I gain to set to be 6 and 4, respectively. However, I cannot further improve the gain values due to the integer nature of the PI gains.
I was wondering, perhaps there is a scaling factor I could use for a finer tuning for the gains and thus a tighter velocity loop?
Thanks in advance