Delta RMC151 - Manual (Page 1001)

9 Register Reference
Figure 1: Deadband Tolerance
Control Modes
The Deadband compensation applies to all the closed-loop control modes: Position PID,
Position I-PD, Velocity PID, Velocity I-PD.
Pressure/Force Limit on Position-Pressure or Position-Force Axes
The Output Deadband is applied as normal, based on position. The Deadband Tolerance
controls the integrator for the position component. If the target is stopped and the
position error is less than the window then the position of the integrator is only allowed to
wind down. When the axis is pressure/force limited then the position integrator is not
used and the Deadband Tolerance has no effect.
Pressure-Only or Force-Only Axes
The Output Deadband applies to pressure/force control. If the Deadband Tolerance value
is non-zero, then the Output Deadband will not apply if the Target Pressure or Target
Force is zero. Otherwise, the value of the Deadband Tolerance has no meaning.
Velocity Control
The Output Deadband applies to velocity control. If the Deadband Tolerance value is non-
zero, then the Output Deadband will not apply if the Target Velocity is zero. Otherwise,
the value of the Deadband Tolerance has no meaning.
9.2.2.6.2. Directional Gain Ratio
Type: Axis Parameter Register
RMC70 Address: %MDn.40, where n = 12 + the axis number
RMC150 Address: n/a
System Tag: _Axis[n].DirGainRatio, where n is the axis number
How to Find: Axes Parameters Pane, Tune tab
(only available in firmware 1.45 or earlier)
Data Type: REAL
Range: > 0
Default Value: 1
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