Jacob先生在美国Delta论坛上发布了RMCTools的一个新功能 Integrator On In Position – 它在执行器运动时暂时将积分（I)控制分量计算关闭，而在到位时再将其打开。它的用处是：当运动过程中执行器的实际位置对命令位置跟踪误差而引起积分分量加大导致在到达位置时产生过冲。在运动中把积分分量计算关闭可以防止此类过冲或超调。

 这在某些情况下（系统设计不当、阀门质量较低）很实用，比方说轴的最终到达位置精度要求很高，不允许有过冲，而运动过程中的跟随误差可以相对大一点。

下面的链接还包括了一个已经写好的用户程序，可以下载后阅读其中注释，再参考使用。

此文的英语原文：

by Jacob Paso » Fri Jul 24, 2015 9:35 am

The Integrator On In Position feature turns off the integrator while the axis is moving. This is useful for axes where the actual position does not track well during the move, causing the integral term to wind up, which in turn causes overshoot. Turning the integrator off during the move will prevent overshoot. This feature is useful for axes where the final position is important, overshoot is unacceptable, and the tracking during the move is unimportant. The example uses the Target Generator Done status bit to turn the integrator on and off.

This example is one user program that runs continuously (you will need a task dedicated to this), and applies the feature to any of up to 8 axes. Use the bits in the EnableIntegratorOnInPos variable to enable this feature for the axes you want.

Import this user program to your project. Make sure to read the comments in the user program for further instructions.