Delta RMC151 - Manual (Page 928)

RMC70/150 and RMCTools User Manual
See the Primary Input Bits Register for details about the register containing these bits.
9.2.2.2.20.5. Actual Acceleration Filter
Type: Axis Parameter Register
RMC70 Address: Primary Input: %MDn.4, where n = 12 + the axis number
Secondary Input: %MDn.22, where n = 12 + the axis number
RMC150 Address: Primary Input: %MDn.4, where n = 24 + the axis number
Secondary Input: %MDn.22, where n = 24 + the axis number
System Tag: Position/Velocity Axes: _Axis[n].ActAccFilter
Primary Accel Input: _Axis[n].AccFilter
Secondary Accel Input: _Axis[n].SecAccFilter
where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback → Filtering/Modeling
Data Type: REAL
Units: Hz
Range: 0 (Off) or greater than 0.01
Default Value: 25
Description
This parameter specifies the cut-off frequency of the Actual Acceleration input filter in
hertz. The filter is a low-pass fourth order Butterworth filter. For most position or velocity
control applications, there is no need to change this parameter from its default setting.
Setting the Actual Acceleration Filter to zero (0) disables the filter.
How the RMC Uses the Filtered Acceleration
Acceleration Inputs
The Actual Acceleration will be filtered as specified by the Actual Acceleration Filter
parameter. The Acceleration Filter Type parameter does not apply.
Position or Velocity Input Axes
If the Acceleration Filter Type parameter is set to Model, the Actual Acceleration Filter
will not be used (see below).
The Acceleration Filter Type parameter specifies how the Actual Acceleration Filter is
used in the RMC:
• Status Only (default setting)
The Actual Acceleration Filter is applied to the Acceleration value used for status
and for plots, but it is not applied to the value used for control. This is the default
setting because the filtering introduces phase that negatively affects control. This
option should be selected for systems that need to react to quick changes.
• Low-Pass
The Actual Acceleration Filter applies to both the Actual Acceleration status register
and the acceleration value used by the control algorithm. If you want the filter to
apply to the control, choose this option.
• Model
The Actual Acceleration Filter is not used. Instead, the Model is used to calculate
the Actual Acceleration. This value is then used for both the Actual Acceleration status
register and the control algorithm.
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