Velocity filter type, Actual velocity filter, E velocity filter type – Delta RMC151 User Manual
Page 925: E actual velocity filter, E actual, Velocity filter
9 Register Reference
9.2.2.2.20.2. Velocity Filter Type
Type: Axis Parameter Register
RMC70 Address: %MDn.9.13-14, where n = 12 + the axis number
RMC150 Address: %MDn.9.4-5, where n = 24 + the axis number
System Tag: _Axis[n].PriInputBits.VelFilterType, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback → Filtering/Modeling
Data Type: Bits
Range: Status Only (0), Low-Pass (1), Model (2)
Default Value: Status Only (0)
Description
This parameter specifies how the Actual Velocity Filter is used by the RMC70:
•
Status Only (default setting)
The Actual Velocity Filter applies only to the Actual Velocity status register. The control
algorithm uses the unfiltered velocity.
•
Low-Pass
The Actual Velocity Filter applies to both the Actual Velocity status register and the
velocity value used by the control algorithm. If you want the filter to apply to the
control, choose this option.
•
Model
The Actual Velocity Filter is not used. Instead, the Model is used to calculate the Actual
Velocity. This value is then used for both the Actual Velocity status register and the
control algorithm. This option is only available if the Model Order parameter is defined.
Notice that the model will be used only if a valid model can be calculated. See the
modeling topic for details.
For best control, if you select Low-Pass or Model, then you should also select the same for
the Acceleration Filter Type and ensure that the Actual Position filter, Actual Velocity
Filter, and Actual Acceleration filter are the same values.
Format Details
This section is primarily for addressing the Velocity Filter Type parameter when
communicating with the RMC from an external device. This information is not necessary
when configuring this parameter in RMCTools.
RMC70
Bit
14
Bit
13
Value
Filter
Type
0
0
0
Status
Only
0
1
1
Low-Pass
1
0
2
Model
RMC150
Bit
5
Bit
4
Value
Filter
Type
0
0
0
Status
Only
0
1
1
Low-Pass
1
0
2
Model
See the Primary Input Bits Register for details about the register containing these bits.
9.2.2.2.20.3. Actual Velocity Filter
Type: Axis Parameter Register
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