Delta RMC151 - Manual (Page 972)

RMC70/150 and RMCTools User Manual
9.2.2.4.2. Position Error Tolerance
Type: Axis Parameter Register
RMC70 Address: %MDn.57, where n = 12 + the axis number
RMC150 Address: %MDn.57, where n = 24 + the axis number
System Tag: _Axis[n].PosErrorTolerance, where n is the axis number
How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup
Data Type: REAL
Units: pu
Range: ≥ 0
Default Value: 0.25
Description
The Position Error Tolerance specifies how large the Position Error may become before the
Following Error bit is set. If the Following Error bit is set, a Halt will occur if the Auto
Stops are configured to do so and the Direct Output Status bit is off.
The Position Error Tolerance applies only when controlling in Position PID.
9.2.2.4.3. At Velocity Tolerance
Type: Axis Parameter Register
RMC70 Address: %MDn.58, where n = 12 + the axis number
RMC150 Address: %MDn.58, where n = 24 + the axis number
System Tag: _Axis[n].AtVelTolerance, where n is the axis number
How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup
Data Type: REAL
Units: pu/s
Range: ≥ 0
Default Value: 0.1
Description
The At Velocity Tolerance specifies a tolerance around the Command Velocity. When the
Target Velocity has reached the Command Velocity and the Actual Velocity gets within
this window, the At Velocity status bit is set. Notice that this bit will not be active until the
Target Velocity has completed its move. The At Velocity bit is not latched and will clear if
the axis speed moves back outside the At Velocity window.
This bit is only used when controlling velocity in a mode that has a requested velocity.
Therefore, it will be clear in Open Loop, Position Control, or Velocity Control in modes
such as gearing that have no final requested velocity.
Example
If an axis Command Velocity is 20.000 in/s and the At Velocity Tolerance parameter is
0.30, the At Velocity bit will be set when the Target Velocity has reached the Command
Velocity and the axis is at a constant velocity between 19.71 and 20.29. The bit will be
cleared whenever the Actual Velocity is outside the range.
952 Delta Computer Systems, Inc.