Delta RMC151 - Manual (Page 936)

RMC70/150 and RMCTools User Manual
2ms 125Hz
4ms 62.5Hz
9.2.2.2.20.15. Model Damping Factor
Type: Axis Parameter Register
RMC70 Address: Position: %MDn.153, where n = 12 + the axis number
Pressure/Force: %MDn.163, where n = 12 + the axis number
RMC150
Address:
Position: %MDn.153, where n = 24 + the axis number
Pressure/Force: %MDn.163, where n = 24 + the axis number
System Tag: Position: _Axis[n].ModDampFactor, where n is the axis number
Pressure/Force: _Axis[n].PFModelDampFactor, 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: [0..2]
Default Value: 0.75
Description
This parameter specifies the Damping Factor of the model. The Damping Factor is only
valid for models with a Model Order of 2. 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.
9.2.2.2.20.16. Model Response
Type: Axis Parameter Register
RMC70 Address: %MDn.148, where n = 12 + the axis number
RMC150 Address: %MDn.148, where n = 24 + the axis number
System Tag: _Axis[n].ModResponse, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback → Filtering/Modeling
Data Type: REAL
Units: Hz
Range: 5-150
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