1:I want to limit the integral term for example 10%, how should i do?
using integrator hold?
2:and limit the differential term,what should i do?
The RMC does not have any limits. In normal operation, it is unusual to have large integral term. I don’t think it is possible to use the Integrator Hold command to limit the Integrator during normal motion. However, it is possible to use the Integrator Hold command to stop the Integrator in situations such as if the system pressure is turned off.
There is no way to limit the differential term. Why do you want to?
Because Integrator is accumulated each cycle，the max value of integrator may be 100%。
I think integrator main function is adjusting Small fluctuations。 so the value of integrator no need too large。
In some error cases，for example external forces force device can not move. Because Integrator is accumulated each cycle, when external forces Disappear， a large step make the device great shock
Rexroth hnc100 have this function。
We plan on implementing an Integrator Limit in the future.