Delta RMC101 User Manual
Page 26
RMC100 and RMCWin User Manual
1-4
In addition to the closed loop drive, this motion controller has two feed forward terms, made up of
Extend and Retract Feed Forward, and Extend and Retract Acceleration Feed Forward. These
feed forward terms give approximately the drive needed to make the axis follow the target, freeing
the PID loop to correct for non-linearity in the system and changes in system load.
Drive Output
The drive generated by the motion controller is sent through optical isolation to a 12-bit digital-to-
analog converter (DAC). The output from the DAC is amplified to provide a ±10 volt output to the
hydraulic valve. Servo valves that need current input require a voltage-to-current converter (Delta
part number VC2100). Other proportional valves are typically driven using another type of
external amplifier.