OnRobot HEX-E QC User Manual page 89

OPERATION
I gain F: The force controller can be tuned with this integral gain parameter. If any overshoots
or vibrations occur, try lowering the gain value.
I gain T: The torque controller can be tuned with this integral gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
D gain F: The force controller can be tuned with this derivative gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
D gain T: The torque controller can be tuned with this derivative gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
This command has no return value.
Guidelines to PID force/torque controller settings:
The PID force/torque controller continuously calculates the error value for the force/torque
measured by the sensor, compared to the values set by the command, and
F/T Control
applies correction based on this error.
P gain F and P gain T: The proportional term produces a correction that is proportional to the
current error value. Increasing this parameter, has the following effects: faster reaction,
overreaction, lower error, stability degradation.
I gain F and I gain T: The integral term produces a correction that is proportional to both, the
magnitude, and duration of the past error values. Increasing this parameter, has the following
effects: faster reaction, overreaction, lower error, stability degradation.
D gain F and D gain T: The derivative term produces a correction that is proportional to the
slope or changing speed of past error values. Increasing this parameter, has the following
effects: less overreaction, stability increase.
If the force control is too slow, that is, the tool occasionally leaves the surface instead of
continually touching it, try increasing the P gain F, P gain T, I gain F and I gain T values.
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