Delta RMC151 - Manual (Page 998)

RMC70/150 and RMCTools User Manual
9.2.2.5.7. Pressure/Force Rate Feed Forward
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.65, where n = 12 + the axis number
Secondary Control Axis: %MDn.85, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.65, where n = 24 + the axis number
Secondary Control Axis: %MDn.85, where n = 24 + the axis
number
System Tag: Pressure Axis: _Axis[n].PrsRateFFwd, where n is the axis number
Force Axis: _Axis[n].FrcRateFFwd, 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 Rate Feed Forward gives extra Control Output proportional to the rate
of change in the Target Pressure or Target Force. It helps the axis maintain the target
when the Target Pressure or Force is changing.
Pressure/Force Rate Feed Forward is applied in both pressure/force control and in
pressure/force limit.
The Pressure/Force Rate 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 Rate 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.
9.2.2.5.8. Pressure/Force Orientation
Type: Axis Parameter Register
RMC70 Address: Primary Control Axis: %MDn.60/5-6, where n = 12 + the axis
number
Secondary Control Axis: %MDn.80/5-6, where n = 12 + the axis
number
RMC150
Address:
Primary Control Axis: %MDn.60/5-6, where n = 24 + the axis
number
Secondary Control Axis: %MDn.80/5-6, where n = 24 + the axis
number
System Tag: Primary Control Axis: _Axis[n].PriControlBits.PFOrientation
Secondary Control Axis: _Axis[n].SecControlBits.PFOrientation
How to Find: Axes Parameters Pane, Tune tab: Pressure/Force Tuning
Data Type: Bits
978 Delta Computer Systems, Inc.