Retract limit, Proportional gain, C.1.10 retract limit – Delta RMC101 User Manual
Page 779: C.1.11 proportional gain
Appendix C: Parameter Field Reference
C-9
and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless
different limits have been saved in the Flash.
C.1.10 Retract Limit
Default: Current position on power-up
Range: Valid 16-bit Position
The Retract Limit specifies the minimum value the motion controller will allow as a position
Command Value. (When the Scale is negative, this is the maximum value.) A Command Value
below this value will be set to the Retract Limit and will cause the parameter error bit in the Status
word to be set. The Retract Limit is given in Position Units.
Note:
The Retract Limit must be changed when the Scale or Offset parameters are changed.
Note:
On startup, the Retract Limit defaults to the current position of the axis, so new Extend
and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless
different limits have been saved in the Flash.
C.1.11 Proportional Gain
Default: 1
Range: 0 to 65535
The Proportional Gain controls how much drive is generated proportional to the Position Error.
The Position Error is defined as the Target Position minus the Actual Position. The units on the
Proportional Gain is millivolts per 10 units of Position Error.
The Proportional Drive is defined as follows:
Or more simply:
where pu is position units.
Note:
The actual drive output may be reduced based on the values of the Extend Feed Forward
and Retract Feed Forward .
CAUTION:
Increase the Proportional Gain gradually. Excessive gain can cause oscillation that could
cause damage or injury.