IntegralGain Setting
IntegralGain is a parameter to clear an offset between the target value.
Adjust value of IntegralGain and repeat the program execution to calculate a proper value.
Be sure to increase the value of IntegralGain gradually. Changing the value to a larger one at one time is extremely hazardous and the robot may move unintentionally.
When adjusting IntegralGain, keep ProportionalGain to the value calculated below and DifferentialGain to "0".
When adjusting IntegralGain, offset between the target value is cleared.
However, if increasing the value too much, the robot motion will be vibratory. (Refer to the upper graph: I=1.0)
IntegralGain value without robot vibrations and the best correction accuracy is an optimum value. (Refer to the upper graph: I=0.7)