Delta RMC151 User Manual download pdf (Page 85)

3 Controller Features

Feedback Type

Description

Position-Pressure

Used for controlling both position and pressure with one

actuator. Typically used with hydraulic cylinders.

Position-Force

Used for controlling both position and force with one actuator.

Typically used with hydraulic cylinders.

Position-Acceleration

Used for advanced control such as active damping, which

provides precision control of difficult systems, such as pneumatic

systems.

Velocity-Pressure

Used for controlling both velocity and pressure with one

actuator.

Velocity-Force

Used for controlling both velocity and force with one

actuator.

Velocity-Acceleration

Used for advanced control applications.

Defining Axes

The user has full control over how the inputs and outputs on the Axis Module and the

inputs on the Expansion Modules are assigned to axes.

See the Defining Axes topic for details on assigning axes to the hardware.

Other Axis Types

In addition to the axis types listed above, further distinction can be made between axes:

• Rotary vs. Linear

• Absolute vs. Incremental

3.3.2. Defining Axes

The RMC70 is a 1- or 2-axis motion controller with possible additional reference axes, with a

maximum of 4 axes. The RMC150 can have up to 8 control axes and additional reference axes

with a maximum of 16 axes. The user can create axes, define the axis type, and define which

physical hardware is assigned to each axis. For details on the axis types supported by the

RMC, see the Axis Types Overview

topic.

Changing the Axis Definitions

When the RMC powers up for the first time, it will create default axes. You may need to

change the axis definitions to fit your application. To change the axis definitions, use the

Axis Definitions Dialog

• In the Project pane, expand the Axes folder and double-click Axis Definitions.

• To remove an axis, click the Remove button. To add a new axis, click New. To

change an existing axis, click Change.

• To change the axis order, use the Move Up and Move Down buttons. The axes

will adhere to this order throughout the entire RMC. The Axis Tools and Command Tool

will display the axes in this order, and the register addresses and tag names will be

defined by this order.

Note: If the controller contains a Universal I/O module, you must first set up it's channels

prior to defining axes.

You will need to define the following items for each axis:

Item

Options

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