Delta RMC151 - Manual (Page 879)

9 Register Reference
Filtering the Jerk
The Actual Jerk is filtered by default. See the Actual Jerk Filter topic for details on filtering
the Actual Jerk. Filtering makes the Actual Jerk less noisy.
Algorithm Usage
The Actual Jerk is used in both Active Damping and Acceleration Control. The following
gains apply to the Actual Acceleration:
• Triple Differential Gain
• Active Damping Differential Gain
9.2.1.3.5. Actual Pressure/Force
Type: Axis Status Register
RMC70 Address: Primary Input: %MDn.8, where n = 8 + the axis number
Secondary Input: %MDn.23, where n = 8 + the axis number
RMC150 Address: Primary Input: %MDn.8, where n = 8 + the axis number
Secondary Input: %MDn.23, where n = 8 + the axis number
System Tag: Pressure Input: _Axis[n].ActPrs, where n is the axis number
Force Input: _Axis[n].ActFrc, where n is the axis number
How to Find: Axes Status Registers Pane, Basic tab
Data Type: REAL
Units: Pr or F
Description
The Actual Pressure or Actual Force is the measured pressure or force of the axis at any
moment. This value is updated every control loop.
The pressure or force is calculated as follows:
Pressure Input:
Voltage Input:
Actual Pressure = Voltage * Pressure Scale + Pressure Offset
Current Input:
Actual Pressure = Current * Pressure Scale + Pressure Offset
Single-Input Force:
Voltage Input:
Actual Force = Voltage * Force Scale + Force Offset
Current Input:
Actual Force = Current * Force Scale + Force Offset
Dual-Input (Differential) Force:
Actual Force = Channel A Force - Channel B Force
The Actual Pressure or Force may be filtered. See the Actual Pressure/Force Filter for
details.
9.2.1.3.6. Actual Pressure/Force Rate
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