Delta RMC151 - Manual (Page 878)

RMC70/150 and RMCTools User Manual
where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Feedback
Data Type: REAL
Units: pu/sec 2
Description
This is the actual acceleration of the axis. It is updated every control loop. This value is
obtained differently depending on the feedback type:
• Position Feedback
The Actual Acceleration is the second derivative of the Actual Position. The
acceleration may be filtered as described below.
• Velocity Feedback
The Actual Acceleration is the change in the Actual Velocity. The acceleration may be
filtered as described below.
• Acceleration Feedback
The Actual Acceleration is calculated from the input (Voltage or Current). It is
calculated as follows:
Actual Acceleration = ((Voltage or Current) + Acceleration Offset) x
Acceleration Scale
Filtering Acceleration
The Actual Acceleration is filtered by default. See the Acceleration Filter Type and Actual
Acceleration Filter topics for details on filtering the Actual Acceleration. Filtering makes the
Actual Acceleration less noisy.
Algorithm Usage
The Actual Acceleration is used in both Active Damping and Acceleration Control. The
following gains apply to the Actual Acceleration:
• Double Differential Gain
• Active Damping Proportional Gain
9.2.1.3.4. Actual Jerk
Type: Axis Status Register
RMC70 Address: Primary Input: %MDn.9, where n = 8 + the axis number
Secondary Input: %MDn.24, where n = 8 + the axis number
RMC150 Address: Primary Input: %MDn.9, where n = 8 + the axis number
Secondary Input: %MDn.24, where n = 8 + the axis number
System Tag: Primary Input: _Axis[n].ActJerk, where n is the axis number
Secondary Input: _Axis[n].SecActJerk, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Feedback
Data Type: REAL
Units: pu/sec 2
Description
This is the actual jerk (rate of change of acceleration) of the axis. It is updated every
control loop. This value is valid only on acceleration feedback axes.
The Actual Jerk is calculated as the first derivative of the Actual Acceleration.
858 Delta Computer Systems, Inc.