Delta RMC101 - Manual (Page 684)

RMC100 and RMCWin User Manual
A-32
between the Retract Limit and the Extend Limit.
Acceleration Acceleration Limit: This parameter limits the rate that the
Target Velocity can change. It is specified in position units per
second per millisecond. Notice that this limit is ignored if the
Filter Time Constant (described below) is zero.
Deceleration Reference Deadband: This parameter configures a deadband
that is used to eliminate jitter in the Target Position when the
input is at rest. The Target Position does not change until the
Actual Position moves at least the number of position units
specified by this parameter. This parameter is specified in
position units. A value of 0 disables the deadband feature.
Speed Velocity Limit: This parameter limits the rate that the Target
Position can change. It is specified in position units per second.
Notice that this limit is ignored if the Filter Time Constant
(described below) is zero.
Command
Value
Filter Time Constant: This parameter defines the time
constant for the filter to apply to the input. This parameter is
specified in milliseconds. The cut-off frequency for a filter in
Hertz, given the time constant (t) in seconds is computed by
1/2pt. If this parameter is zero, then no filter is applied, and the
Velocity Limit, Acceleration Limit, and Reference Deadband are
not applied.
For a complete discussion on the reference mode and configuring the position filter including
examples and diagrams, see Reference Axis Filtering.
A.1.45 Spline Relative Sine Move
Character: w
Decimal: 119
Hexadecimal: 0x77
Command Value: Offset from the Spline that the Slave Must Move to
Note: This command is only available in the special ’r;SI’ RMC100 CPU firmware (e.g.
20020624SI). ’r;SI’ firmware is available only on request, as it useful only for special
applications. It may not be compatible with standard firmware.
This command moves an axis from its current position to a position relative to a spline. The spline
must previously have been loaded to the RMC.
This command carries out two actions:
• It activates the spline currently in the RMC.
• It then superimposes a sine move from the current position to an offset from the spline. Note
that the offset can be zero, moving the axis onto the spline.