OnRobot VGC10 User Manual page 82

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
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