Delta RMC151 - Manual (Page 105)

3 Controller Features
Diagram
3.5.6. Gain Sets Overview
Some position or velocity control applications require only one set of gains that never change.
However, some applications may require different gains at different times. For example, an
application may require different gains for Position I-PD and Velocity I-PD control modes. The
RMC can automatically switch the gains for such applications. This can be done via Gain Sets,
as described below.
A related concept is ratioing gains in the forward and reverse direction of motion on
asymmetrical systems. See the Ratioed Gains topic for details.
Another related concept is gain scheduling, where the gains values are continuously modified
based on the state of the system. See the Gain Scheduling topic for details.
To easily handle switching of gains, each position or velocity axis can have two position or
velocity gain sets. The RMC automatically applies the gains from one of the sets according to
the selected Gain Set option. The table below describes the Gain Set options. Most applications
(such as a hydraulic cylinder) will only need a single gain set.
Notice that using velocity or I-PD control does not necessarily require using dual gain sets. If
you have a single gain set, that set will always be used for the position or velocity control,
whether it be PID or I-PD. If you will be using both position and velocity or both PID and I-PD
on the same axis, the gain sets will be useful to you.
The Symmetrical/Ratioed parameter always applies to both gain sets.
Gain Set
Option
Description
Single
(default)
Only one gain set available. This option is the best choice for most
applications. For hydraulic cylinders, you should also set the
Symmetrical/Ratioed parameter to Ratioed.
Pos, Vel Automatically chooses a gain set based on position or velocity control.
Gain Set#1 applies when the Current Control Mode is Position PID or
Position I-PD.
deltamotion.com 85