**All About The Integral Gain**

It is taught in basic lessons about PID control that the Integral gain “winds up” during a commanded move, but what is the purpose of the Integral gain, and how can it be properly used or misused? Delta Motion Product Manager Jacob Paso explores the Integral gain, showing how confusion can lead to frustrating system behavior, and ways that the powerful commands within RMCTools can be set to use different Integral gain behavior.

This session will presume that viewers are familiar with RMCTools - there are a series of free introductory videos on Delta’s website.

00:00

00:28 Review of Proportional Gain

03:11 Integral Gain

06:47 RMCTools example: Proportional only, Proportional + Integral

09:11 Adding Feed Forwards

11:25 Acceleration Feed Forward

13:09 Example using Feed Forwards

16:48 Integrator causing overshoot

18:29 Integrator modes with examples

26:26 Hold Position Command: Integrator options with examples

30:22 Transition between Modes with examples

35:45 Trick: Resetting the Ingegrator

44:41 The Integrator in the Quick Move command

49:16 Trick: Deadband tolerance with example

55:25 Integral gain tuning suggestions