Delta RMC151 - Manual (Page 896)

RMC70/150 and RMCTools User Manual
Force Input: _Axis[n].FrcError, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Axes Status Registers Pane, All tab: Pressure/Force Control
Data Type: REAL
Units: Pressure units (Pr) or Force units (Fr)
Description
The Pressure/Force Error is the difference between the Target Pressure/Force and the
Actual Pressure/Force. If this value exceeds the Pressure/Force Error Tolerance while in
pressure/force control or while pressure/force limit is enabled in Open Loop, Position PID,
or Velocity PID control modes, the Pressure/Force Following Error bit will be set. If the
Pressure or Force Following Error bit is set, a Halt will occur if the Auto Stops are
configured to do so and the Direct Output Status bit is off.
In the Negative and Bidirectional modes of Pressure/Force Limit, the Pressure/Force Error
will not give the error between the negated Pressure/Force Target and the Actual
Pressure/Force. If you need to monitor this error, use the expressions in a user program.
This register is useful for troubleshooting when included in a plot.
9.2.1.6.2. Pressure/Force Proportional Term
Type: Axis Status Register
RMC70 Address: Primary Input: %MDn.37, where n = 8 + the axis number
Secondary Input: %MDn.48, where n = 8 + the axis number
RMC150
Address:
Primary Input: %MDn.37, where n = 8 + the axis number
Secondary Input: %MDn.48, where n = 8 + the axis number
System Tag: Pressure Input: _Axis[n].PrsPropGainTerm, where n is the axis
number
Force Input: _Axis[n].FrcPropGainTerm, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Axes Status Registers Pane, All tab: Pressure/Force Control
Data Type: REAL
Units: % of maximum control output
Description
The Pressure/Force Proportional Output Term is the portion of control output contributed
by the Pressure/Force Proportional Gain. The Pressure/Force Proportional Output Term is
useful for troubleshooting when included in a plot.
See Pressure/Force Proportional Gain for more details.
9.2.1.6.3. Pressure/Force Integral Term
Type: Axis Status Register
RMC70 Address: Primary Input: %MDn.38, where n = 8 + the axis number
Secondary Input: %MDn.47, where n = 8 + the axis number
RMC150
Address:
Primary Input: %MDn.38, where n = 8 + the axis number
Secondary Input: %MDn.47, where n = 8 + the axis number
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