Default: 1
Range: -32768 to 32767
Note: Use positive Feed Forward and Gain values if the pressure increases in the extend direction, and negative values if the pressure increases in the retract direction.
The Integral Gain is used to control the amount of drive provided by the integrator. The integrator adds the pressure 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 pressure. We recommend that you set the Integral Gain to a value of at least 50.
Integral Gain is defined as:
Integral Gain = 0.1 mV per 1024 counts of accumulated Pressure Error
Integral Drive is defined as:
Integral Drive = Integral Gain x Accumulated Counts
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 Pressure without Integral Gain.
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