Upgrading from an RMC100 to an RMC150 significantly enhances the configuration and troubleshooting capabilities available in RMCTools. However, due to the substantial differences between the two systems, the software migration should be treated as a full re-commissioning rather than an upgrade. One potential area for transfer is the gain values, though this may not be necessary given the efficiency of the RMCTools tuning wizard. The following equations can help the conversion process if this approach is desired:
Proportional Gain: K_{P150} = \frac{N}{100 \times OutputLimit} K_{P100}
Integral Gain: K_{I150} = \frac{LoopsPerSec \times N}{102400 \times OutputLimit} K_{I100}
Differential Gain: K_{D150} = \frac{N}{102400 \times OutputLimit} K_{D100}
Velocity Feed Forward Gain: K_{V150} = \frac{N}{10000 \times OutputLimit} K_{V100}
Acceleration Feed Forward Gain: K_{A150} = \frac{N}{1000000 \times OutputLimit} K_{A100}
Where:
- N = Number of RMC100 position units per RMC150 position unit. For example, if an axis on the RMC100 was scaled in thousandths of an inch and the equivalent axis on the RMC150 is scaled in inches then N would be 1000.
- OutputLimit = Output Limit parameter for the axis in the RMC150. This parameter is usually 10.
- LoopsPerSec = Derived from the loop time of the RMC100 firmware. The options are 1024 loops per second for 1ms firmware and 512 loops per second for 2ms firmware.