Delta RMC101 Manuel d'utilisateur télécharger pdf (Page 797)

100

101

Appendix C: Parameter Field Reference

C-27

that you set the Integral Gain to a value of at least 50.

Integral Gain is defined as:

Integral Gain = millivolts per 10240 counts of accumulated Position Error

Integral Drive is defined as:

Integral Drive = Integral Gain x Accumulated Counts / 10240

Note: The actual drive output may be reduced based on the values of the Extend Feed Forward

and Retract Feed Forward .

Why Bother?

Integral Gain should be used to compensate for the fact that loads may vary, valves are non-

linear and the axis may have trouble getting to the Command Position without Integral Gain.

C.2.10 Differential Gain

Default: 0

Range: 0 to 65535

The Differential Gain field is used to apply a gain based on the rate of change between the target

and actual positions. There are two ways to view this.

First, this is a gain multiplied by the current rate of change in the position error. The differential

drive, in millivolts is computed as follows:

where:

Differential Gain in mV/[pos-units/ms]

position error this control loop in position units

position error last control loop in position units

LoopTime =

RMC Control Loop Time in ms (1 or 2)

A second equivalent way of viewing this parameter is as the gain multiplied by the velocity error.

When looked at from this angle, the above equations become the following:

1 2 ... 792 793 794 795 796 797 798 799 800 801 802 ... 950 951

Commentaires sur ces manuels

Pas de commentaire

Delta RMC101 Manuel d'utilisateur Page 797

Commentaires sur ces manuels

Produits connexes et manuels pour Capteurs Delta RMC101