Default: 1
Range: 0 to 65535
The Integral Gain is used to control the amount of drive provided by the integrator. The integrator adds the position error to an accumulator every millisecond. The Integral Gain should be adjusted after the feed forwards have been set to optimal values. Using the integrator before the feed forwards have been set properly will cause the system to overshoot the target. We recommend that you set the Integral Gain to a value of at least 50.
Integral Gain is defined as:
Integral Gain = millivolts per 10240 counts of accumulated Position Error
Integral Drive is defined as:
Integral Drive = Integral Gain x Accumulated Counts / 10240
Note: The actual drive output may be reduced based on the values of the Extend Feed Forward and Retract Feed Forward .
Why Bother?
Integral Gain should be used to compensate for the fact that loads may vary, valves are non-linear and the axis may have trouble getting to the Command Position without Integral Gain.
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