Delta RMC151 - Manual (Page 204)

RMC70/150 and RMCTools User Manual
drive that takes a ± 10V command signal from the RMC. Feedback can be quadrature encoder,
SSI, analog voltage or current, or a resolver.
Amplifier or Drive Details
To interface with an electric motor, you will need an amplifier or drive that takes a ±10V
command signal from the RMC. This includes Variable Frequency Drives.
If the drive is a smart drive, you should set it to it's simplest setting so that the drive
does not do the position control. The RMC should do the position control.
Feedback
Most motors are available with encoder feedback. This is sufficient for use with the RMC.
Make sure the encoder sends out a 5V differential (RS-422) quadrature signal.
If you wish to use absolute feedback, SSI is a good option.
Motor Control Features
The RMC has many features for motor control. A few of them are listed below:
Rotary Motion
Rotary-specific Command Options
Setup parameters (Position Unwind, Count Unwind)
Command Direction (Nearest, Positive, Negative, Multi-turn)
Incremental or Absolute Feedback
Linear Motion
Positive and Negative Travel Limits
Physical Limit Inputs
Incremental or Absolute Feedback
Velocity Control
Control velocity with either position or velocity feedback.
Can be used on linear as well as rotary systems.
Advanced PID
High-Order gains
Feed-forward gains (Velocity Feed Forward, Acceleration Feed Forward, Jerk Feed
Forward)
3.11.2. Hydraulic Control
The RMC family of motion controllers excels at hydraulic motion control. The RMC includes
many features for controlling hydraulic cylinders:
Directional Gain Ratio
Single-rod hydraulic cylinders require different gains when going moving in each
direction. The RMC has Velocity Feed-Forward gains for each direction. The rest of the
tuning gains are scaled according to the ratio of the feed-forward gains to compensate for
the asymmetrical cylinder.
Deadband Compensation
Some hydraulic valves have overlapped spools which create a dead zone or deadband
where no oil flows even though a control signal is applied to the valve. The RMC includes
parameters to compensate for the Deadband. Though this compensation can improve
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