General Creep function advice for the Mach-1 Motion software
![](https://support.biomomentum.com/galleryDocuments/edbsnec3707f865a9c6e02d2389fdeb691c8d06d4f43218e91de25f96511622782d97f369ced5804503e0bd091942ce2e2e59?inline=true)
Here are some recommended starting parameters:
- Start at P = 0.001, I = 0.
- If load (e.g. 3000gf) was not reached, increase to
P = 0.01, I = 0.
- Repeat with by increasing again to P = 0.1 if load was again not
reached.
- If the motor starts to overcorrect and
oscillate up and down, reduce P.
- Once the (e.g. 3000gf) setpoint is reached, but the
load doesn’t stay at the setpoint, you can start to increase I = 0.001, 0.01,
0.1, etc. to correct this long-term error.
In
general, proportional gain (P) is how fast and aggressively the motor corrects
its position. Integral gain (I) corrects any constant error over the creep
time.
Here
is a video with some examples: YouTube - Mach-1 User Manual - Part 2d - Function Creep
Example 1: P is too high and starts oscillating/overcorrecting
![](https://support.biomomentum.com/galleryDocuments/edbsn45d25a32fe351c0b2af92a1c6a23437e03e7efd7470b8ee588377eed4dcd750e5b2354f99c4e6ad5c34dc7e815dd7de8?inline=true)
Example 2: Effect of increasing I for a 10gf setpoint
![](https://support.biomomentum.com/galleryDocuments/edbsna2080957dfb97f05341ef28405f4e24efc9ea1c80691a2c2328c0b32a48e9c43d6f31877e860455b2ee2ce223fe36bad?inline=true)
![](https://support.biomomentum.com/galleryDocuments/edbsnbd0a1d00b010472d5571a87b8e741126839b0205382899cd2464d1b57aa62e67c674d2836ade3f19eeb97c0b3e784f15?inline=true)
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