Delta RMC151 - Manual (Page 983)

9 Register Reference
RMC70 Address: Gain Set #1: %MDn.66
Gain Set #2: %MDn.133
where n = 12 + the axis number
RMC150 Address: Gain Set #1: %MDn.66
Gain Set #2: %MDn.133
where n = 24 + the axis number
System Tag: Gain Set #1:_Axis[n].AccFFwd
Gain Set #2:_Axis[n].AccFFwd_2
where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Position/Velocity Gains
Data Type: REAL
Units: %/(pu/s 2 )
Range: ≥ 0
Default Value: 0
Description
The Acceleration Feed Forward causes the controller to give Control Output proportional
to the Target Acceleration. Acceleration Feed Forward is only applied when the axis is in
Closed Loop control and accelerating or decelerating. It helps the axis maintain the Target
Position.
The Acceleration Feed Forward Term is the portion of the Control Output resulting from
the Acceleration Feed Forward Gain.
This parameter is not used in the Position I-PD or Velocity I-PD control modes.
Definition
The Acceleration Feed Forward Term is calculated from the Acceleration Feed Forward as
follows:
D
AFF
n = K
AFF
A
Target
n
where
D
AFF
n = Acceleration Feed Forward Term at sample n [% of maximum Control
Output]
K
AFF
= Acceleration Feed Forward [%/(pu/sec 2 )]
A
Target
n = Target Acceleration at sample n [pu/sec 2 ]
Tuning
The Acceleration Feed Forward helps the axis track the Target Position while the axis is
accelerating and decelerating. This makes it "easier" for the other gains to control the
position of the axis.
The Acceleration Feed Forward should not be adjusted until the Velocity Feed Forward is
adjusted correctly. See the Tuning topic for more details on how to properly adjust the
Acceleration Feed Forward.
9.2.2.4.13. Jerk Feed Forward
Type: Axis Parameter Register
RMC70 Address: %MDn.67, where n = 12 + the axis number
RMC150 %MDn.67, where n = 24 + the axis number
deltamotion.com 963