Delta MMC120 - Manual (Page 113)

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controller will allow as a COMMAND VALUE . (When the SCALE is negative, this is
the minimum value.) A COMMAND VALUE that exceeds this value will be set to the
EXTEND LIMIT, and the PARAMETER ERROR bit in the STATUS word will be set.
The EXTEND LIMIT is given in Position Units.
NOTE: The EXTEND LIMIT must be changed when the SCALE or OFFSET
parameters are changed. Extending is the direction that gives increasing
TRANSDUCER COUNTS .
NOTE:On startup, the EXTEND LIMIT defaults to the current position of the axis, so
new EXTEND and RETRACT LIMITS must be issued followed by a ‘P’
command before the axis will move, unless different limits have been saved in
the FLASH .
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.
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 ‘P’
command before the axis will move, unless different limits have been saved in
the FLASH .
PROPORTIONAL GAIN
Default: 1
Range: 0 to 65535
The PROPORTIONAL GAIN specifies the amount of drive added to the output for each
unit of position error. It is defined as:
PROPORTIONAL GAIN = 0.1 millivolts per unit of Position Error
Proportional drive is defined as: