Delta RMC151 - Manual (Page 974)

RMC70/150 and RMCTools User Manual
Format Details
This section is primarily for addressing the Integrator Mode when communicating with the
RMC from an external device. This information is not necessary when configuring the
Integrator Mode in RMCTools.
The Integrator Mode is selected with bits 0-3 in the register. These bits correspond to the
Integrator Mode as shown in the following table:
Bit 3 Bit 2 Bit 1 Bit 0 Value Integrator Mode
0 0 0 0 0 Always Held
0 0 0 1 1 Always Active
See the Primary Control Register topic for details about the register containing these bits.
9.2.2.4.6. Proportional Gain
Type: Axis Parameter Register
RMC70 Address: Gain Set #1: %MDn.61
Gain Set #2: %MDn.128
where n = 12 + the axis number
RMC150 Address: Gain Set #1: %MDn.61
Gain Set #2: %MDn.128
where n = 24 + the axis number
System Tag: Gain Set #1: _Axis[n].PropGain
Gain Set #2: _Axis[n].PropGain_2
where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Position/Velocity Gains
Data Type: REAL
Units: Position Control: %/pu
Velocity control: %/(pu/sec)
% = percent of maximum Control Output (default is 10V)
Range: ≥ 0
Default Value: 1
Description
The Proportional Gain is the most important tuning parameter. It affects the
responsiveness of the system. A low gain makes the system sluggish and unresponsive. A
gain that is too high makes the axis oscillate or vibrate.
The Proportional Gain controls how much of the Control Output is added to the PFID
Output due to the Position Error or Velocity Error for position or velocity control,
respectively. Position control is defined as when the Current Control Mode is Position PID.
Velocity control is defined as when the Current Control Mode is Velocity PID.
See the Tuning topic for details on how to properly adjust the Proportional Gain.
Each gain of the axis contributes to the Control Output. The contribution from the
Proportional Gain is called the Proportional Output Term.
Advanced: I-PD Control
954 Delta Computer Systems, Inc.