Delta RMC151 - Manual (Page 987)

9 Register Reference
D
n
= Active Damping Proportional Term at sample n [% of maximum Control
Output]
F = Force [Fr]
A = Acceleration [pu/sec
2 ]
K
ADP
= Active Damping Proportional Gain [%/(Fr])] or [%/(pu/sec 2 ])]
9.2.2.4.16. Triple Differential Gain
Type: Axis Parameter Register
RMC70 Address: Gain Set #1: %MDn.70
Gain Set #2: %MDn.137
where n = 12 + the axis number
RMC150
Address:
Gain Set #1: %MDn.70
Gain Set #2: %MDn.137
where n = 24 + the axis number
System Tag: Gain Set #1: _Axis[n].TrpDiffGain
Gain Set #2: _Axis[n].TrpDiffGain_2
where n is the axis number
How to Find: Axes Parameters Pane, All tab: Position/Velocity Control → Gain
Set#
Data Type: REAL
Units: %/(pu/sec 3 )
% = percent of maximum Control Output (default is 10V)
Range: ≥ 0
Default Value: 0
Description
The Triple Differential Gain is available only on position-acceleration axes with the High-
Order Control parameter set to Accel Control. It controls how much of the Control Output
is generated proportional to the Actual Jerk.
Each gain of the axis contributes to the Control Output. The contribution from the Triple
Differential Gain is called the Triple Differential Output Term.
Tuning
See the Tuning Active Damping and Acceleration Control topic for details.
Definition
Position PID
D
n
= (J
Target
n - J
Actual
n ) x K
TD
Position I-PD
D
n
= - (J
Actual
n - J
Actual
n-1 ) x K
TD
where
D
n
= Triple Differential Term at sample n [% of maximum Control Output]
J = Jerk [pu/sec 3 ]
K
TD
= Triple Differential Gain [%/(pu/sec 3 )]
pu = position-unit
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