Delta RMC151 - Manual (Page 965)

9 Register Reference
RMC150 Address: %MDn.117, where n = 24 + the axis number
System Tag: _Axis[n].SystemGain, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Simulate
Data Type: REAL
Units: (pu/s)/V
Range: > 0
Default Value: 1
Description
This parameter is used for the motion simulator in the RMC. It is used with both 1st order
and 2nd order simulators. For details on using simulate mode, see the Simulate Mode
topic.
The System Gain is pu/s/V, in other words, how fast the system moves for 1 V of control
output. To find this value, give 1 volt of Control Output (use the Open Loop Rate (10)
command). Use the plot to find the Actual Velocity of the system. This is your System
Gain.
Changing this Parameter
For best results, always change this parameter only from Axis Tools. If the axis is in
Simulate mode, and this parameter is changed, simulate model will be suspended until
the last simulate mode parameter register (Max Compression [Fx:127]) has been
updated. At this point, the new simulator model will be calculated and the simulator
model will be activated. When the simulator model is suspended, the Actual Position will
not move.
Certain simulator settings may result in an invalid model. If this occurs, change your
settings. See the Simulating Motion topic for more details.
9.2.2.3.3. Natural Frequency (Simulator)
Type: Axis Parameter Register
RMC70 Address: %MDn.118, where n = 12 + the axis number
RMC150 Address: %MDn.118, where n = 24 + the axis number
System Tag: _Axis[n].NaturalFreq, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Simulate
Data Type: REAL
Units: pu/s 2
Range: See the Range section below
Default Value: 20
Description
This parameter is used with a 2nd order simulator. For details on using simulate mode,
see the Simulate Mode topic.
The Natural Frequency for a hydraulic system is normally between 1 and 30. Use the
following formula to approximate the natural frequency for hydraulic system:
ω
= sqrt[(4*200000 *A 2 ) /(mass * volume)]
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