DifferentialGain Setting

DifferentialGain is a parameter to improve the responsiveness of correction.

Adjust value of DifferentialGain and repeat the program execution to calculate a proper value.

Increase the value of DifferentialGain gradually. Changing the value to a larger one at one time is extremely hazardous and the robot may move unintentionally.

When adjusting DifferentialGain, enter the value calculated below.

• ProportionalGain: ProportionalGain Setting
• IntegralGain: IntegralGain Setting

When adjusting DifferentialGain, the responsiveness of correction is improved.

However, if increasing the value too much, the robot motion will be vibratory. (Refer to the upper graph: D=100)

DifferentialGain value without robot vibrations and the best correction accuracy is an optimum value. (Refer to the upper graph: D=40)

Now, gain adjustment is completed.