Delta RMC101 User Manual download pdf (Page 198)

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RMC100 and RMCWin User Manual

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This would result in an Actual Position with the same shape, although scaled to the user's units.

Without a reference filter enabled, the Target Position will match this Actual Position curve:

So, without the reference filter, the RMC would not ramp the reference input at all, and jumps in the

input current or voltage would be translated directly to jumps in the reference position and jumps in

any axes geared to this reference.

To enable reference filtering, the Filter Time Constant parameter must be set to a non-zero value.

The Target Position will now appear as follows, as compared to the Actual Position:

This is a great improvement in that the Target Position no longer has a large step jump. However, two

problems remain. First, the Target Velocity at the time of the step jump depends on the amount the

Actual Position changed at the step jump. Second, there is a sharp change in the Target Velocity at

the time the step jump occurs.

The first problem can be addressed by introducing the Velocity Limit filter parameter. This parameter

will limit the Target Velocity in our example as shown:

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Delta RMC101 User Manual Page 198

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