Command: integrator adjust (70), Integrator adjust (70) – Delta RMC151 User Manual
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8 Command Reference
This command should be issued after a move has completed. Since the new Feed Forward
value is applied immediately, issuing this command during motion may cause a sudden
jerk, which may cause the output to saturate and the axis to halt.
This command should be used only after smooth motion. If the feedback is noisy, or the
axis oscillates or does not reach steady state during the move, this command will give
erroneous results. If the Output Bias is not adjusted correctly, the value for the Feed
Forward may also be incorrect.
The result of this command will be logged in the Event Log.
Advanced Details
While the target profile is at constant velocity in Position PID or Velocity PID control, a
copy of the current PFID Output and Target Velocity is saved each loop time. Notice that
both data items are independent of the various output stages, including deadband, bias,
ratio, and output polarity. If any of the following is true at the time of the capture, then
the captured values are considered invalid:
•
The Output Saturated bit is set.
•
The axis is currently P/F limited.
•
The sign of the PFID Output and Target Velocity are not the same.
When the Feed Forward Adjust command is issued, the appropriate Feed Forward gain
will be set to the last-captured PFID Output divided by the last-captured Target Velocity.
8.6.6. Command: Integrator Adjust (70)
Supported Axes: All Axes
Supported Control Modes: Position PID, Velocity PID, Pressure/Force
Firmware Requirement: 2.70 or newer
Hardware Limitations: RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description
Range
1 Integral Output (%)
-100% to 100%
2 Integrator Select
•
Active (0)
•
Pos/Vel (1)
•
Prs/Frc (2)
A valid integer as
described.
Description
This command adjusts the Integral Output Term. The Integral Output value will be
applied immediately to the Integral Output Term specified by the Integrator Select
command parameter.
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