Delta RMC151 - Manual (Page 997)

9 Register Reference
In Pressure/Force I-PD, the Pressure/Force Differential Gain adjusts the Control Output
based on the change in the Actual Pressure/Force Rate. The Pressure/Force I-PD is used
in pressure/force limit on dual-loop axes with I-PD Position or Velocity Control.
Mathematical Definition
Pressure/Force PID
D
n
= (PR
Target
n - PR
Actual
n) x K
D
Pressure/Force I-PD
D
n
= (PR
Actual
n - PR
Actual
n-1) x K
D
where
D
n
= Pressure/Force Differential Term at sample n [% of maximum Control Output]
PR = Pressure or Force Rate [Pr/sec or Fr/sec]
K
P
= Pressure/Force Proportional Gain [%/(Pr/sec) or %/(Fr/sec)]
The Pressure/Force Differential Gain units are: percent of the maximum Control Output
per pressure or force units per second. The maximum Control Output is 10V, but can be
changed using the Output Scale parameter.
9.2.2.5.6. Pressure/Force Feed Forward
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.64, where n = 12 + the axis number
Secondary Control Axis: %MDn.84, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.64, where n = 24 + the axis number
Secondary Control Axis: %MDn.84, where n = 24 + the axis
number
System Tag: Pressure Axis: _Axis[n].PrsFFwd, where n is the axis number
Force Axis: _Axis[n].FrcFFwd, where n is the axis number
How to Find: Axes Parameters Pane, Tune tab: Pressure/Force Tuning
Data Type: REAL
Units: %/(Pr) or %/(Fr)
Range: ≥ 0
Default Value: 0
Description
The Pressure/Force Feed Forward gives extra Control Output proportional to the Target
Pressure or Target Force. This gain is useful on systems that require a large amount of
drive to hold pressure or force, such as when a large flow is required to hold pressure or
force.
The Pressure/Force Feed Forward Term is the portion of the Control Output resulting from
this gain.
Advanced: Pressure/Force I-PD
In pressure/force I-PD, the Pressure/Force Feed Forward will not be applied. 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.
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