Delta RMC151 User Manual download pdf (Page 99)

3 Controller Features

• Via Auto Stops.

After a Halt has Occurred

If the halt was caused by an Auto Stop, you should first make sure the error condition

that caused it has been resolved before continuing. Once it has been fixed, you can clear

the Halted status bit by issuing the Clear Faults (4)

command. Issuing a valid motion

command will also clear the Halted status bit.

Why Bother?

This halt is useful when you want to set the Control Output to zero and turn off the

Enable Output because of a potentially dangerous error. The Open Loop Halt Ramp

parameter is used to avoid an abrupt (and potentially damaging) stop. If you wish to halt

the axis but still have closed loop control over it, use the Closed Loop Halt

The Auto Stops can be set up to cause this halt when an error bit turns on.

3.5. Control Modes

3.5.1. Control Modes Overview

This topic describes various modes of control. For details on motion types, see the Controller

Features Overview.

Open Loop Control

Open Loop Control is the simplest form of control. A control output is given to a system,

for example 2 volts, causing the motion system to move at some approximate speed.

Open loop control does not use the feedback to determine how much Control Output

should be given. Therefore, in open loop control, there is no way of commanding the

system to go exactly at a specific speed or go to an exact position. See the

Open Loop

Control topic for more details.

Closed Loop Control

Closed Loop control uses feedback from the system being controlled. For example, a

command is issued to go to 20 inches. The RMC computes a target (a motion path) to get

to 20 inches. For each control loop

, the controller (the RMC) uses the feedback and the

gains to compute the amount of Control Output that should be given to the system so

that it follows the profile. The system will automatically go to 20 inches. See the

Closed

Loop Control topic for more details.

The RMC offers several different algorithms for closed-loop control, depending on the

feedback type:

Feedback Type

Closed-Loop Control Algorithms

Position

Position PID

Advanced:

Position I-PD

Velocity PID

Velocity I-PD

Velocity

Velocity PID

Advanced:

Velocity I-PD

Pressure

Pressure/Force Control, Pressure/Force Limit

deltamotion.com 79

1 2 ... 94 95 96 97 98 99 100 101 102 103 104 ... 121 122

Comments to this Manuals

No comments

Delta RMC151 User Manual Page 99

Comments to this Manuals

Related products and manuals for Sensors Delta RMC151