UFactory XARM User Manual page 118

3. When the robotic arm is moving, PID parameters cannot be modified.
The following situation can be improved by modifying the PID
parameter:
1. If the robotic arm shakes heavily executing motions with payload.
Note:
1. Changing The PID parameter can only be performed if UFACTORY
technical support recommends changing the PID parameters. (contact
technical support: support@ufactory.cc)
2. After changing the PID parameters, it may cause the robotic arm to
shake or increase safety risk. Please be sure to perform a safety
assessment after changing the PID parameter.
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