Delta RMC101 User Manual download pdf (Page 853)

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Appendix C: Parameter Field Reference

C-83

and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless

different limits have been saved in the Flash.

C.6.7 Retract Limit

Default: Current position on power-up

Range: Valid 16-bit Position

The Retract Limit specifies the minimum value the motion controller will allow as a position

Command Value. (When the Scale is negative, this is the maximum value.) A Command Value

below this value will be set to the Retract Limit and will cause the parameter error bit in the Status

word to be set. The Retract Limit is given in Position Units.

Note: The Retract Limit must be changed when the Scale or Offset parameters are changed.

Note: On startup, the Retract Limit defaults to the current position of the axis, so new Extend

and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless

different limits have been saved in the Flash.

C.6.8 Velocity Limit (Reference)

Default: 65,535

Range: 0 to 65,535 position units per second

Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later.

This parameter is available on analog Position and Velocity Reference axes and configures the

position filter. For reference axes, the Actual Position status field reflects the actual reading from

the transducer, and the Target Position reflects the filtered position, after applying the Filter Time

Constant, Deadband, Velocity Limit, and Acceleration Limit parameters. This parameter limits the

Target Velocity to the specified number of position units per second.

For example, suppose that the Actual Position jumps from 4100 to 4500 position units. With a

high Velocity Limit (65,535) and a non-zero Filter Time Constant, the Target Position would be

computed as follows:

1 2 ... 848 849 850 851 852 853 854 855 856 857 858 ... 950 951

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Delta RMC101 User Manual Page 853

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