RMC70/150 and RMCTools User Manual
Input Type: Pressure ........................................................................................................................................... 72
Input Type: Single-Input Force ........................................................................................................................... 72
Input Type: Dual-Input (Differential) Force ....................................................................................................... 72
Input Type: Custom ............................................................................................................................................ 73
Halts ......................................................................................................................74
Halts Overview .......................................................................................................................................74
External Halt ..........................................................................................................................................75
Closed Loop Halt ...................................................................................................................................76
Open Loop Halt ......................................................................................................................................77
Direct Output Halt ..................................................................................................................................78
Control Modes ........................................................................................................79
Control Modes Overview .......................................................................................................................79
Closed Loop Control ..............................................................................................................................80
Open Loop Control .................................................................................................................................81
Position PID ...........................................................................................................................................82
Velocity PID ...........................................................................................................................................83
Gain Sets Overview ................................................................................................................................85
Ratioed Gains .........................................................................................................................................86
Gain Scheduling .....................................................................................................................................87
Valve Linearization ................................................................................................................................87
Unidirectional Mode ..............................................................................................................................89
Velocity and Torque Mode .....................................................................................................................90
Advanced ................................................................................................................................................91
Position I-PD ....................................................................................................................................................... 91
Velocity I-PD ...................................................................................................................................................... 93
Active Damping .................................................................................................................................................. 94
Acceleration Control ........................................................................................................................................... 96
Cascade Control .................................................................................................................................................. 97
Motion .................................................................................................................. 100
Synchronizing Axes .............................................................................................................................100
Using Rotary Motion ............................................................................................................................101
Velocity Control ...................................................................................................................................108
Gearing .................................................................................................................................................109
Simulating Motion ................................................................................................................................113
Step Jumps ...........................................................................................................................................116
Curves, Cams, and Splines ...................................................................................................................116
Curves Overview .............................................................................................................................................. 116
Managing Curves in the Curve Tool ................................................................................................................. 119
Creating Curves Using the Curve Add Command ............................................................................................ 120
Creating Large Curves using the Curve Add Command ................................................................................... 122
Curve Interpolation Methods and Options ........................................................................................................ 127
Curve Data Formats .......................................................................................................................................... 131
Curve Status Error Codes .................................................................................................................................. 137
Curve Storage Capacity .................................................................................................................................... 139
Example: Creating a Curve using the Curve Add Command ............................................................................ 142
Pressure and Force Control .................................................................................. 146
Pressure/Force Control Overview ........................................................................................................146
Controlling Only Pressure or Force ......................................................................................................147
Position-Pressure and Position-Force Control ......................................................................................150
Velocity-Pressure and Velocity-Force Control ....................................................................................154
Pressure/Force Limit ............................................................................................................................154
Pressure/Force Limit Details ................................................................................................................157
Filtering/Modeling ............................................................................................... 158
Filtering ................................................................................................................................................158
Modeling ..............................................................................................................................................159
Plots .................................................................................................................... 160
Using Plots ...........................................................................................................................................160
Saving and Exporting Plots ..................................................................................................................161
vi
Delta Computer Systems, Inc.
