Delta RMC151 - Manual (Page 995)

9 Register Reference
Mathematical Definition
Pressure/Force PID
D
n
= (P
Target
n - P
Actual
n) x K
P
Pressure/Force I-PD
D
n
= (P
Actual
n - P
Actual
n-1) x K
P
where
D
n
= Proportional Term at sample n [% of maximum Control Output]
P = Pressure or Force [Pr or Fr]
K
P
= Pressure/Force Proportional Gain [%/(Pr) or %/(Fr)]
The Pressure/Force Proportional Gain units are: percent of the maximum Control Output
per pressure or force unit. The maximum Control Output is 10V, but can be changed using
the Output Scale parameter.
9.2.2.5.4. Pressure/Force Integral Gain
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.62, where n = 12 + the axis number
Secondary Control Axis: %MDn.82, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.62, where n = 24 + the axis number
Secondary Control Axis: %MDn.82, where n = 24 + the axis
number
System Tag: Pressure Axis: _Axis[n].PrsIntGain, where n is the axis number
Force Axis: _Axis[n].FrcIntGain, where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Pressure/Force Tuning
Data Type: REAL
Units: %/(Pr∙s) or %/(Fr∙s)
Range: ≥ 0
Default Value: 0
Description
The Pressure/Force Integral Gain generates Control Output proportional to the
Pressure/Force Error. The Integral Gain helps compensate for changing system dynamics,
such as varying loads, and often aids the axis in rapidly reaching the Command
Pressure/Force. A low gain slows the response of the axis to changes and may keep the
axis from reaching the Command Position. A gain that is too high may make the axis
oscillate.
Each gain of the axis contributes to the Control Output. The contribution from the
Pressure/Force Integral Gain is called the Pressure/Force Integral Term. For both PID and
I-PD, each control loop, the Integral Gain is multiplied by the control loop time and
Pressure/Force Error and added to the Pressure/Force Integral Output Term.
Integrator Adjust
The Integral Output Term can be manually adjusted with the Integrator Adjust (70)
command. This is useful for clearing it if it has "wound up" for some reason. See the
Integrator Adjust (70) topic for more details.
Advanced: Pressure/Force I-PD
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