Slot2ConfigskI Field
Integral Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by error in the input integrated over time
(in units of seconds), the units should be defined as units of
output per unit of integrated input error. For example, when
controlling velocity using a duty cycle closed loop, integrating
velocity over time results in rps * s = rotations. Therefore, the
units for the integral gain will be duty cycle per rotation of
accumulated error, or 1/rot.
- Minimum Value – 0
- Maximum Value – 3.4e+38
- Default Value – 0
- Units –