Delta RMC151 - Manual (Page 900)

RMC70/150 and RMCTools User Manual
When an axis is stopped, the Target Position should be the same as the Command
Position unless an error or halt has occurred. When an axis is in Open Loop control, the
Target Position is set to the Actual Position.
Why Bother?
Knowing the relationship between the Target Position and Actual Position is key to tuning
the axis. The main goal in tuning the axis is to minimize the error between the Target
and Actual Positions. The plot function is a very useful visual aid in tuning the axis.
9.2.1.7.4. Target Velocity
Type: Axis Status Register
RMC70 Address: %MDn.54, where n = 8 + the axis number
RMC150 Address: %MDn.54, where n = 8 + the axis number
System Tag: _Axis[n].TarVel, where n is the axis number
How to Find: Axes Status Registers Pane, Basic tab
Data Type: REAL
Units: pu/sec
Description
When the axis is in Closed Loop control, the Target Velocity is the desired instantaneous
velocity for the axis, based on the last motion command that was sent. The Target
Velocity is calculated every loop by the target generator of the RMC.
When a velocity command is sent to the axis, the Command Velocity will immediately be
set to the final requested velocity while the Target Velocity will ramp according to the
command.
When a position command is issued, the Command Velocity will be set to the same value
as the Target Velocity.
9.2.1.7.5. Target Acceleration
Type: Axis Status Register
RMC70 Address: %MDn.55, where n = 8 + the axis number
RMC150 Address: %MDn.55, where n = 8 + the axis number
System Tag: _Axis[n].TarAcc, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Target
Data Type: REAL
Units: pu/sec 2
Description
When the axis is in Closed Loop control, the Target Acceleration is the calculated
instantaneous ideal acceleration for the axis. The Target Acceleration is calculated every
loop by the target generator of the RMC.
9.2.1.7.6. Target Jerk
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