OnRobot HEX-E v1 User Manual page 28

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.
Make sure that the F/T Zero command is used before the F/T
Control is started and the tool is not in contact with any object
(the force/torque reading is zero).
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 F/T Control command, and
applies correction based on this error.
P Gain: 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: 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.
OnRobot © 2018
Using the URCap Plugin 28
www.onrobot.com