Delta RMC151 - Manual (Page 996)

RMC70/150 and RMCTools User Manual
In pressure/force I-PD, this gain is the most important gain for pressure/force I-PD
control. This gain must be non-zero in I-PD mode. If it is zero, it will cause a run-time
error. A higher value will increase the response. A value that is too high will cause
oscillation and instability. The Pressure/Force I-PD is used in pressure/force limit on dual-
loop axes with I-PD position control or I-PD velocity control.
Mathematical Definition
PID and I-PD
The Pressure/Force Integral Gain is calculated from the Pressure/Force Integral Gain as
follows:
I
n
= (e
n
x K
i
x T) + I
n-1
where
I
n
= Pressure/Force Integral Term [% of maximum Control Output]
e
n
= Pressure/Force Error at sample n [Pr or Fr]
K
i
= Pressure/Force Integral Gain [%/(Pr x sec) or %/(Fr x sec)]
T = Time period of control loop [sec]
The Integral Gain units are: percent of the maximum Control Output per pressure or force
units times time. The maximum Control Output is 10V, but can be changed using the
Output Scale parameter.
9.2.2.5.5. Pressure/Force Differential Gain
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.63, where n = 12 + the axis number
Secondary Control Axis: %MDn.83, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.63, where n = 24 + the axis number
Secondary Control Axis: %MDn.83, where n = 24 + the axis
number
System Tag: Pressure Axis: _Axis[n].PrsDiffGain, where n is the axis number
Force Axis: _Axis[n].FrcDiffGain
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 Differential Gain generates Control Output proportional to the
difference between the Target Pressure/Force Rate and the Actual Pressure/Force Rate.
The Differential Gain helps the pressure or force track quick changes.
The Pressure/Force Differential Term is the portion of the Control Output resulting from
the Pressure/Force Differential gain.
Advanced: Pressure/Force I-PD
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