Delta RMC101 - Manual (Page 216)

RMC100 and RMCWin User Manual
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H Common
J Current Output 1
4.12 Position/Pressure Control
4.12.1 Position-Pressure Overview
The RMC100 excels at smoothly transitioning from position to pressure (or force) control while in
motion. This requires two axes: one for the position control and one for the pressure control.
When set up for position/pressure control, the RMC100 effectively controls these two axes as one
unit.
For information on only controlling pressure or force, see the Controlling Solely Pressure or Force
topic.
For complete instruction on how to set up, tune and control a position/pressure system, read the
following topics:
1. This topic.
2. Position/Pressure Setup
3. Tuning a Position/Pressure System
4. Position/Pressure Example
Required Equipment
To control position to pressure transitions, an RMC100 with the following options is required:
• Pressure control option (the designation is RMC101)
• An analog module (for the pressure transducer inputs). An H, G, or A module will work. For
details on configuring the module for pressure control and for your particular transducer type
refer to Using Analog Channels as Differential Force Inputs, Using Analog Channels as
Pressure Inputs and Configuring the Analog Transducer Type.
• A module for position inputs. This module must have an analog drive output (not a stepper
output). This may be an MDT, SSI, QUAD, or even the same analog module in the previous
item if it has a drive output. Most hydraulic systems use an MDT for position feedback.
Types of Pressure Control
The RMC100 offers two types of pressure control:
• Set Pressure
This is the standard method of control. When the user issues a Set Pressure command with a
certain value, the RMC attempts to change the pressure to that value. Note that if the pressure
feedback is double-ended, this becomes force control.
• Pressure Limit
This type of pressure control is only available upon request as it is intended for specific
applications. It allows the user to do position moves while pressure is being limited to a given
value.