Delta RMC101 Manual do Utilizador descarregar pdf (Página 796)

100

101

RMC100 and RMCWin User Manual

C-26

C.2.8 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.

Think about this:

Internally, the motion controller must compare the error between the Target and Actual Positions

with error limits to keep values from overflowing. The error limit is the error at which full drive (10

volts) will occur. This internal error limit is calculated as follows:

Error Limit = 100,000 / Proportional Gain

Therefore, if the Proportional Gain is set to 100, the Error Limit will be 1,000, which means any

error greater than 1,000 will be treated as an error of 1,000 and the Overdrive error bit will be set

in the Status Word.

C.2.9 Integral Gain

Default: 1

Range: 0 to 65535

The Integral Gain is used to control the amount of drive provided by the integrator. The integrator

adds the position error to an accumulator every millisecond. The Integral Gain should be adjusted

after the feed forwards have been set to optimal values. Using the integrator before the feed

forwards have been set properly will cause the system to overshoot the target. We recommend

1 2 ... 791 792 793 794 795 796 797 798 799 800 801 ... 950 951

Comentários a estes Manuais

Sem comentários

Delta RMC101 Manual do Utilizador Página 796

Comentários a estes Manuais

Manuais e produtos relacionados com Sensores Delta RMC101