Delta RMC151 - Manual (Page 1017)

9 Register Reference
How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup
Axes Parameters Pane, Setup tab: Secondary Control Setup
Data Type: REAL
Units: Pr or Fr
Range: any
Default Value: 0
Description
The Negative Pressure/Force Limit and the Positive Pressure/Force Limit specify the
pressure or force boundaries in which the axis is allowed operate. The Negative
Pressure/Force Limit must be less than or equal to the Positive Pressure/Force Limit.
If a command is issued that sets the Command Pressure/Force outside of the Positive and
Negative Pressure/Force Limits, the pressure or force will be truncated to the closest
Pressure/Force Limit and the Command Modified error bit will be set. The error bit will
cause a Halt to occur if the Auto Stops are configured to do so and the Direct Output
Status bit is off.
If the current Pressure or Force Target is outside of the pressure/force limits, commands
that move it closer to the valid range will be allowed.
9.2.2.7.5. Requested Jerk
Type: Axis Parameter Register
RMC70 Address: %MDn.94, where n = 12 + the axis number
RMC150 Address: %MDn.94, where n = 24 + the axis number
System Tag: _Axis[n].ReqJerk, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Target
Data Type: REAL
Units: pu/s 3
Range: ≥0
Default Value: 100000
Description
The Requested Jerk parameter is used for closed loop motion commands.
As of firmware release 1.50, the Requested Jerk does nothing other than specify whether
or not the target generator should generate speed profiles with "s-curves", as described
below.
Trapezoidal or S-Curve Target Profile
If the Requested Jerk is set to a non-zero number, the target generator will generate
speed profiles with s-curves. If the Requested Jerk is set to 0, the target generator will
generate trapezoidal target speed profiles. In certain applications this may be desirable.
Typically, a trapezoidal target speed profile may cause jerkiness at the points where the
speed changes.
The advantage of a trapezoidal speed profile is that the Target Acceleration will never
exceed the value specified in the command. With "s-curves", the commanded acceleration
specifies the average Target Acceleration. The maximum instantaneous Target
Acceleration will typically be 1.5 times the commanded acceleration.
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