Delta RMC151 - Manual (Page 117)

3 Controller Features
For position-acceleration or velocity-acceleration axes, the secondary input from an
accelerometer provides very good acceleration measurements. However, this requires
extra components and wiring out to the moving load where the accelerometer is
mounted. It is also generally necessary to use two accelerometers, one on the stationary
frame and one on the moving load. This is because the stationary frame is not usually
truly stationary—its vibrations will impact the motion of the load.
Setting up Acceleration Control
Acceleration control uses a dual-loop axis. On the RMC70, this requires an AP2 module.
On the RMC150, the CPU must have the pressure control option, designated as RMC151.
To enable Acceleration Control on a position or velocity control axis:
• Set the High-Order Control parameter to Acceleration Control.
To enable Acceleration Control using accelerometers:
• Define an axis with a secondary acceleration input. If you are using one
accelerometer, choose Accel (single-input). If you are using two accelerometers,
choose Accel (dual-input, diff.).
• Set the High-Order Control parameter to Acceleration Control.
Note:
If you use the Tuning Wizard and choose a second-order model, the wizard will automatically
set the High-Order Control parameter to Acceleration Control.
Tuning Acceleration Control
Manual Tuning
Acceleration Control adds the Double Differential Gain and Triple Differential Gain to the
PID or I-PD control algorithm. See the Tuning Active Damping and Acceleration Control
topic for details on tuning these gains.
Tuning Wizard
In the Tuning Wizard, on the Confirm Model page, uncheck Limit models to first order.
If the wizard then selects a second-order model, it will automatically set the Double
Differential Gain. It will not set the Triple Differential Gain.
3.5.12.5. Cascade Control
The RMC75 and RMC150 support cascade control with any number of loops up to the number
of axes supported by the RMC.
What is Cascade Control?
Cascade control is a control algorithm in which the output of one control loop provides the
target for another loop, as shown in the diagram below.
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