Delta RMC151 - Manual (Page 966)

RMC70/150 and RMCTools User Manual
where
A = area of the piston (in
2 )
mass = the mass moved by the system (lb)
volume = the volume of trapped oil in the cylinder (in
3 )
Range
The Natural Frequency must be less than or equal to the control loop time frequency
divided by 4:
Control Loop
Time
Max Natural
Frequency
0.5 ms 500 Hz
1 ms 250 Hz
2 ms 125 Hz
4 ms 62.5 Hz
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.
9.2.2.3.4. Damping Factor (Simulator)
Type: Axis Parameter Register
RMC70 Address: %MDn.119, where n = 12 + the axis number
RMC150 Address: %MDn.119, where n = 24 + the axis number
System Tag: _Axis[n].DampingFactor, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Simulate
Data Type: REAL
Units: pu/sec 2
Range: [0..2]
Default Value: 0.75
Description
This parameter is used with a 2nd order simulator. For details on using simulate mode,
see the Simulate Mode topic.
The damping factor is a unitless number that specifies how much friction there is in the
system. Hydraulic systems typically range from 0.3 to 0.8. If the load has a lot of friction,
this value will become larger. A lower value makes the system more difficult to control.
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
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