Delta RMC151 - Manual (Page 988)

RMC70/150 and RMCTools User Manual
The Triple Differential Gain units are: Percent of the maximum Control Output per
position units per second cubed (pu/sec 3 ). The default value of the maximum Control
Output is 10V, but can be changed using the Output Scale parameter.
9.2.2.4.17. Active Damping 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].ADDiffGain
Gain Set #2: _Axis[n].ADDiffGain_2
where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Position/Velocity Gains
Data Type: REAL
Units: %/(pu/sec 3 )
% = 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 Differential
Gain controls how much the Control Output is reduced due to the due to the Actual Jerk
or Actual Force Rate.
Each gain of the axis contributes to the Control Output. In position control, the
contribution from the Active Damping Differential Gain is called the Triple Differential
Output Term. In velocity control, the contribution from the Active Damping Differential
Gain is called the Double Differential Output Term.
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 Differential Gain units are: percent of the maximum Control Output
per position unit per second cubed. The maximum Control Output is 10V, but can be
changed using the Output Scale parameter.
PID with Active Damping
Using Acceleration Input, Filter, or Model
D
n
= - J
Actual
n x K
ADD
Using Force Input
D
n
= - ΔF
Actual
n x K
ADD
I-PD with Active Damping
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