Delta RMC151 - Manual (Page 975)

9 Register Reference
The Differential Gain controls how much the PFID Output is adjusted based on the change
in the Actual Position or Actual Velocity for position or velocity control, respectively.
Position control is defined as when the Current Control Mode is Position I-PD. Velocity
control is defined as when the Current Control Mode is Velocity I-PD.
Mathematical Definition
The Proportional Gain units are: percent of the maximum Control Output per control unit
(cu = position-units or velocity-units). The maximum Control Output is 10V, but can be
changed using the Output Scale parameter.
Position PID
D
n
= (P
Target
n - P
Actual
n) x K
P
Velocity PID
D
n
= (V
Target
n - V
Actual
n) x K
P
Position I-PD
D
n
= - (P
Actual
n - P
Actual
n-1 ) x K
P
Velocity I-PD
D
n
= - (V
Actual
n - V
Actual
n-1 ) x K
P
where
D
n
= Proportional Term at sample n [% of maximum Control Output]
P = Position [pu]
V = Velocity [pu/sec]
K
P
= Proportional Gain [%/(pu) or %/(pu/sec)]
pu = position-unit
9.2.2.4.7. Integral Gain
Type: Axis Parameter Register
RMC70 Address: Gain Set #1: %MDn.62
Gain Set #2: %MDn.129
where n = 12 + the axis number
RMC150 Address: Gain Set #1: %MDn.62
Gain Set #2: %MDn.129
where n = 24 + the axis number
System Tag: Gain Set #1: _Axis[n].IntGain
Gain Set #2: _Axis[n].IntGain_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∙sec)
Velocity control: %/((pu/sec)∙sec)
% = percent of maximum Control Output (default is 10V)
Range: ≥ 0
Default Value: 0
Description
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