Delta RMC151 - Manual (Page 986)

RMC70/150 and RMCTools User Manual
RMC70 Address: Gain Set #1: %MDn.69
Gain Set #2: %MDn.136
where n = 12 + the axis number
RMC150 Address: Gain Set #1: %MDn.69
Gain Set #2: %MDn.136
where n = 24 + the axis number
System Tag: Gain Set #1: _Axis[n].ADPropGain
Gain Set #2: _Axis[n].ADPropGain_2
where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Position/Velocity Gains
Data Type: REAL
Units: %/(pu/sec 2 )
% = percent of maximum Control Output (default is 10V)
Range: ≥ 0
Default Value: 0
Description
This gain is only valid when Active Damping is selected. The Active Damping Proportional
Gain controls how much the Control Output is adjusted based on the change in the Actual
Acceleration or the Actual Force.
Each gain of the axis contributes to the Control Output. In position control, the
contribution from the Active Damping Proportional Gain is called the Double Differential
Output Term. In velocity control, the contribution from the Active Damping Proportional
Gain is called the Differential Output Term. Notice that in velocity control with active
damping, the Differential Gain is not used.
Position control is defined as when the Current Control Mode is Position PID or Position I-
PD. Velocity control is defined as when the Current Control Mode is Velocity PID or
Velocity I-PD.
Tuning
See the Tuning Active Damping and Acceleration Control topic for details.
Mathematical Definition
The Active Damping Proportional Gain units are: percent of the maximum Control Output
per position unit per second squared. The maximum Control Output is 10V, but can be
changed using the Output Scale parameter.
PID with Active Damping
Using Force Input
D
n
= - F
Actual
n x K
ADP
Using Acceleration, Filter, or Model
D
n
= - A
Actual
n x K
ADP
I-PD with Active Damping
Using Force Input
D
n
= - (F
Actual
n - F
Actual
n-1) x K
ADP
Using Acceleration, Filter, or Model
D
n
= - (A
Actual
n - A
Actual
n-1) x K
ADP
where
966 Delta Computer Systems, Inc.