Delta RMC101 User Manual download pdf (Page 684)

100

101

RMC100 and RMCWin User Manual

A-32

between the Retract Limit and the Extend Limit.

Acceleration

Acceleration Limit: This parameter limits the rate that the

Target Velocity can change. It is specified in position units per

second per millisecond. Notice that this limit is ignored if the

Filter Time Constant (described below) is zero.

Deceleration

Reference Deadband: This parameter configures a deadband

that is used to eliminate jitter in the Target Position when the

input is at rest. The Target Position does not change until the

Actual Position moves at least the number of position units

specified by this parameter. This parameter is specified in

position units. A value of 0 disables the deadband feature.

Speed

Velocity Limit: This parameter limits the rate that the Target

Position can change. It is specified in position units pe

r second.

Notice that this limit is ignored if the Filter Time Constant

(described below) is zero.

Command

Value

Filter Time Constant: This parameter defines the time

constant for the filter to apply to the input. This parameter is

specified in milliseconds. The cut-off frequency for a filter in

Hertz, given the time constant (t) in seconds is computed by

1/2pt. If this parameter is zero, then no filter is applied, and the

Velocity Limit, Acceleration Limit, and Reference Deadband are

not applied.

For a complete discussion on the reference mode and configuring the position filter including

examples and diagrams, see Reference Axis Filtering.

A.1.45 Spline Relative Sine Move

Character: w

Decimal: 119

Hexadecimal: 0x77

Command Value: Offset from the Spline that the Slave Must Move to

Note: This command is only available in the special ’r;SI’ RMC100 CPU firmware (e.g.

20020624SI). ’r;SI’ firmware is available only on request, as it useful only for special

applications. It may not be compatible with standard firmware.

This command moves an axis from its current position to a position relative to a spline. The spline

must previously have been loaded to the RMC.

This command carries out two actions:

• It activates the spline currently in the RMC.

• It then superimposes a sine move from the current position to an offset from the spline. Note

that the offset can be zero, moving the axis onto the spline.

1 2 ... 679 680 681 682 683 684 685 686 687 688 689 ... 950 951

Comments to this Manuals

No comments

Delta RMC101 User Manual Page 684

Comments to this Manuals

Related products and manuals for Sensors Delta RMC101