Delta RMC151 - Manual (Page 934)

RMC70/150 and RMCTools User Manual
RMC70 Address: %MDn.161, where n = 12 + the axis number
RMC150
Address:
%MDn.161, where n = 24 + the axis number
System Tag: _Axis[n].PFModelGain, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Secondary Feedback →
Filtering/Modeling
Data Type: REAL
Units: (Pr/s)/V or (Fr/s)/V
Default Value: 1
Description
This parameter specifies the gain of the pressure or force model. This parameter is valid
for models with a Model Order of 0, 1, or 2. This parameter is valid only for pressure or
force axes. For more details, see the modeling topic.
9.2.2.2.20.13. Model Time Constant
Type: Axis Parameter Register
RMC70 Address: Position: %MDn.152, where n = 12 + the axis number
Pressure/Force: %MDn.162, where n = 12 + the axis number
RMC150
Address:
Position: %MDn.152, where n = 24 + the axis number
Pressure/Force: %MDn.162, where n = 24 + the axis number
System Tag: Position: _Axis[n].ModTimeConst, where n is the axis number
Pressure/Force: _Axis[n].PFModelTimeConst, 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
Data Type: REAL
Units: seconds
Range: See the Range section below.
Default Value: 20
Description
This parameter specifies the Time Constant of the model. The Time Constant is only valid
for models with a Model Order of one (1). Separate models exist for position and for
pressure or force feedback. For more details, see the modeling topic.
Changing this Parameter
On position axes, always change this parameter only from Axis Tools for best results. If
the position feedback model is being used, it will be suspended until the last position
feedback model parameter register has been updated (Time Constant [Fx:152] for first
order or Damping Factor [Fx:153] for second order). At this point, the new feedback
model will be calculated and the model will be activated.
Certain position model parameter settings may result in an invalid model. If this occurs,
change your settings. See the modeling topic for more details.
Range
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