Delta RMC151 - Manual (Page 991)

9 Register Reference
Bit 4 Control Mode
0 Ratioed
1 Symmetrical
See the Primary Control Register topic for details about the register containing these bits.
9.2.2.4.20. High-Order Control
Type: Axis Parameter Register
RMC70 Address: Gain Set #1: %MDn.71, where n = 12 + the axis number
Gain Set #2: %MDn.138, where n = 12 + the axis number
RMC150
Address:
Gain Set #1: %MDn.71, where n = 24 + the axis number
Gain Set #2: %MDn.138, where n = 24 + the axis number
System Tag: Gain Set #1: _Axis[n].AccCtrlMode, where n is the axis number
Gain Set #2: _Axis[n].AccCtrlMode_2, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Position/Velocity Control → Gain
Set#
Data Type: DINT
Range: None (0), Acceleration Control (1), and Active Damping (2)
Default Value: None (0)
Description
This parameter specifies the type of high-order control to use on the position or velocity
control axis.
Options:
• None
No high-order control is used.
• Acceleration Control
This option adds the higher-order Double Differential Gain and Triple Differential Gain
to the PID or I-PD algorithm. For axes with a secondary Acceleration Input, the
acceleration and jerk from this input will be used instead of the Acceleration Input
derived from the position or velocity input. See the Acceleration Control topic for
details.
• Active Damping
This option adds the higher-order Active Damping Proportional Gain and Active
Damping Differential Gain. This option is useful for controlling systems with low
damping that tend to oscillate. For axes with a secondary Force Input, the active
damping gains will be applied to the force input. Similarly, for axes with a secondary
Acceleration Input, the gains will apply to the acceleration and jerk from this input
instead of the Acceleration Input derived from the position or velocity input. See the
Active Damping topic for details.
Values Control Mode
0
None
1 Acceleration Control
2 Active Damping
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