Delta RMC151 - Manual (Page 1007)

9 Register Reference
Note:
For firmware versions prior to 3.36.0, only one Output Filter existed, which applied to both the
primary and secondary control.
Use for Difficult Systems
The Output Filter can significantly improve control of difficult systems. Without the Output
Filter, the Differential Gain can cause the Control Output to oscillate, causing oscillation of
the axis. By using the output filter, the differential gain can be increased significantly to
help the Actual Velocity track the Target Velocity.
Typically, the Output Filter can be set to a value close top the natural frequency of the
system. For example, if a system tends to oscillate at 10 Hz, a good starting value for the
Output Filter is 10 or higher.
9.2.2.6.7. Output Limit
Type: Axis Parameter Register
RMC70 Address: %MDn.32, where n = 12 + the axis number
RMC150 Address: %MDn.32, where n = 24 + the axis number
System Tag: _Axis[n].OutputLimit, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Output
Data Type: REAL
Units: V
Range: 0 to 10
Default Value: 0
Description
This parameter determines the maximum Control Output. When the Control Output
reaches the Output Limit (positive or negative), it will not increase (or decrease) further
and the Output Saturated error bit will be set.
Note:
The Output Limit is applied before the Output Bias. The actual maximum voltage measured on
the Control Output pins is the Output Limit plus the Output Bias.
9.2.2.6.8. Output Scale
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