Delta RMC151 - Manual (Page 842)

RMC70/150 and RMCTools User Manual
The Integral Output value is given in percent of maximum Control Output, which is
normally 10V. Therefore, 0% means clear the integrator, 100% means 10V, and -100%
means -10V.
The Integrator Select command parameter selects which integrator to apply the new
value to. Typically, this should be set to Active (0), to apply to the current integrator.
The other options are only necessary for Pressure/Force Limit in Position PID and Velocity
PID modes.
• Active (0)
Apply the Integral Output to the current integrator. If the axis is in PosPID with
PFLimit or VelPID with PFLimit, then both integrators will be set to the specified value,
which is only recommended when the value is zero.
• Pos/Vel (1)
Apply the integrator value to the position or velocity integrator. This will work for
Position PID and Velocity PID (with or without Pressure/Force Limit enabled). It will
not affect Open Loop, P/F Control, nor the I-PD modes.
• Prs/Frc (2)
Apply the integrator value to the Pressure/Force integrator. This will work for Position
PID, Velocity PID, and Open Loop modes, if P/F Limit is enabled, plus in the
Pressure/Force PID control mode. It has no effect if Pressure/Force Limit and
Pressure/Force Control are disabled or if in one of the I-PD modes.
Zeroing the Integral Output Term is useful if it is has undesirably wound up for some
reason.
The Integral Output Term cannot be adjusted in any of the I-PD modes whether or not
Pressure/Force Limit enabled.
If you want to turn off the integrator during a move, use this command to zero it, then
set the Integrator Mode to Off with the Set Integrator Mode (71) command, then issue
the motion command. Once the axis has reached the final position (the In Position bit is
on), re-activate the integrator with the Set Integrator Mode (71) command.
Why Bother?
Sometimes, the Integral Output Term may wind up, which can cause problems. For
example, one customer wanted to move a cylinder until it hit an object, and then back up
1 inch. The problem was that when the cylinder hit the object, the Integral Output Term
wound up, causing the cylinder to delay after it was commanded to move backward. By
clearing the integrator immediately before issuing the command to back up, the problem
was solved.
8.6.7. Command: Set Integrator Mode (71)
Supported Axes: Control Axes
Firmware Requirement: 1.00 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 On/Off: Off (0), On(1) 0 or 1
Description
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