OnRobot HEX-E QC User Manual page 90

OPERATION
If the force control is overreacting to changes, that is, the tool bounces off the surface, try
decreasing the P gain F and P gain T (or D gain F and D gain T, if it is above 1).
If the force control is reacting to changes too slowly, that is it keeps pushing the surface hard
after touching it, try decreasing the I Gain.
As a rule of thumb, it is recommended to use values:
P Gain < 5\
I Gain < 0.25\
D Gain < 1\
The ratio of P Gain/I Gain = 10
Values that can be used as a base for tuning are:
P Gain F =1, I Gain F = 0.1, D Gain F = 0.3
P Gain T =0.2, I Gain T = 0, D Gain T = 0
F/T Move
The command can be used together with the
F/T Move
along a route, or together with the
the defined force/torque limits are reached (movement interrupted). In this case a warning can
be generated. If the movement reaches the last waypoint, the move is successful.
NOTE:
To cancel any force/torque offset, execute an
beginning of the
with any object before starting the
stop at the given force/torque limit.
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to move the robot along a path and stop once
F/T Path
command and make sure the tool is not in contact
F/T Move
F/T Move
, to move the robot
F/T Waypoint
command at the
F/T Zero
, otherwise the command may not