Delta RMC101 User Manual download pdf (Page 855)

Appendix C: Parameter Field Reference

By lowering the Acceleration Limit parameter, the Target Position changes to the following:

Notice that the Target Position was smoothed at the start of the step jump by limiting the

acceleration of the Target Position.

The Acceleration Limit is ignored if the position filter is disabled through the Filter Time Constant

The Acceleration Limit parameter must be at least equal to the Velocity Limit (in pos-units/sec)

divided by twice the Filter Time Constant (in ms). For example, with a Filter Time Constant of 2

ms and a Velocity Limit of 1000 position units per second, the minimum Acceleration Limit will be

250. This limit is introduced because lower values for the Acceleration Limit would result in the

Target Position overshooting the Actual Position significantly.

This and the other position filter parameters can also be changed through the Reference (W)

For details on reference axis filtering, see Reference Axis Filtering.

C.6.10 Filter Time Constant (Reference)

Default: 0 (disabled)

Range: 1 to 65,535 milliseconds, or 0 to disable

Delta RMC101 User Manual Page 855