Delta RMC151 - Manual (Page 931)

9 Register Reference
Type: Axis Parameter Register
RMC70
Address:
Primary Input: %MDn.5, where n = 12 + the axis number
Secondary Input: %MDn.23, where n = 12 + the axis number
RMC150
Address:
Primary Input: %MDn.5, where n = 24 + the axis number
Secondary Input: %MDn.23, where n = 24 + the axis number
System Tag: Pressure Input: _Axis[n].PrsRateFilter
Force Input: _Axis[n].FrcRateFilter
where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback or Sec Feedback →
Filtering/Modeling
Data Type: REAL
Units: Hz
Range: 0 (Off) or greater than 0.01
Default Value: 500
Description
This parameter specifies the cut-off frequency of the Actual Pressure/Force Rate input
filter in hertz. The filter is NOT applied to the Actual Pressure/Force Rate used in the
control algorithm. It is only applied to the value displayed in the Axis Tools and in the
plot. Therefore, changes to the Actual Pressure/Force Rate Filter value will not affect the
control or the tuning. The filter is a low-pass fourth order Butterworth filter.
Setting this value to zero (0) disables the filter.
Notice that this Actual Pressure/Force Rate filter is independent of the Actual
Pressure/Force Filter. The Actual Pressure/Force Filter does affect control.
Limits
The filter is limited to greater than 0.01 due to inaccuracies in the calculations for lower
values. The filter is disabled (without notice to the user) when the frequency is set above
1/4 the sample frequency (500Hz for 500us loop, 250Hz for 1ms loop, 125Hz for 2ms
loop, 62.5Hz for 4ms loop).
Why Bother?
Filtering the pressure/force rate makes the plots look cleaner.
9.2.2.2.20.9. Model Order
Type: Axis Parameter Register
RMC70 Address: Position: %MDn.149, where n = 12 + the axis number
Pressure/Force: %MDn.160, where n = 12 + the axis number
RMC150
Address:
Position: %MDn.149, where n = 24 + the axis number
Pressure/Force: %MDn.160, where n = 24 + the axis number
System Tag: Position: _Axis[n].ModOrder, where n is the axis number
Pressure/Force: _Axis[n].PFModelOrder, where n is the axis
number
How to Find: Axes Parameters Pane, All tab: Feedback → Filtering/Modeling
Axes Parameters Pane, All tab: Secondary Feedback →
Filtering/Modeling
deltamotion.com 911