Delta RMC151 - Manual (Page 877)

9 Register Reference
RMC70 Address: %MDn.9, where n = 8 + the axis number
RMC150 Address: %MDn.9, where n = 8 + the axis number
System Tag: _Axis[n].ActVel, where n is the axis number
How to Find: Axes Status Registers Pane, Basic tab
Data Type: REAL
Units: pu/sec
Description
This is the velocity of the axis. It is updated every control loop. This value is obtained
differently depending on the axis type:
• Position Feedback Axes
The Actual Velocity is calculated from the change in the Counts, Voltage, or Current
status register, depending on the feedback type. It is calculated as follows:
Actual Velocity = (Counts(n) - Counts(n-1)) x Position Scale / Control Loop
Time
where n is the control loop.
The velocity may be filtered as described in the Filtering Velocity section below.
• Velocity Feedback Axes
The Actual Velocity is the velocity from the transducer. It is calculated as follows:
Actual Velocity = Velocity Scale x [(Voltage or Current) + Velocity Offset ±
Velocity Deadband)]
The velocity may be filtered as described in the Filtering Velocity section below.
Filtering Velocity
The Actual Velocity can be filtered in several different ways. Use the Actual Velocity Filter
parameter to choose the filtering type. By default, on position axes, the Actual Velocity is
filtered to reduce noise caused by quantization errors. The actual velocity value that is
used by the control algorithm is not filtered.
The Actual Velocity Filter can be set to filter the Actual Velocity used by the control
algorithm, or it can be set for model-based filtering. This may improve control on some
systems, especially when using Active Damping or Acceleration Control. See the Actual
Velocity Filter topic for details.
9.2.1.3.3. Actual Acceleration
Type: Axis Status Register
RMC70
Address:
Primary Position/Velocity Input: %MDn.10, where n = 8 + the
axis number
Primary Acceleration Input: %MDn.8, where n = 8 + the axis
number
Secondary Input: %MDn.23, where n = 8 + the axis number
RMC150
Address:
Primary Position/Velocity Input: %MDn.10, where n = 8 + the
axis number
Primary Acceleration Input: %MDn.8, where n = 8 + the axis
number
Secondary Input: %MDn.23, where n = 8 + the axis number
System Tag: Primary Input: _Axis[n].ActAcc
Secondary Input: _Axis[n].SecActAcc
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