Retract limit, Comp. rate, Comp. timeout – Delta RMC101 User Manual
Page 811: C.3.6 retract limit, C.3.7 comp. rate, C.3.8 comp. timeout
Appendix C: Parameter Field Reference
C-41
C.3.6 Retract Limit
Default: Current position on power-up
Range: Valid 16-bit Position
The Retract Limit specifies the minimum value the motion controller will allow as a position
Command Value. (When the Scale is negative, this is the maximum value.) A Command Value
below this value will be set to the Retract Limit and will cause the parameter error bit in the Status
word to be set. The Retract Limit is given in Position Units.
Note:
The Retract Limit must be changed when the Scale or Offset parameters are changed.
Note:
On startup, the Retract Limit defaults to the current position of the axis, so new Extend
and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless
different limits have been saved in the Flash.
C.3.7 Comp. Rate
Default: 0
Range: 0 (disabled) or 1 to 65535 position units per second
This parameter is available only on stepper axes. It is one of several parameters that control the
compensation feature. For a complete description of the compensation feature, see the Stepper
Compensation topic.
This parameter determines the speed at which the axis will try to return to the target position. If
the axis is in motion, this rate will be added to the target speed. The compensation rate is only
added when the actual position is outside the Compensation or In Position Window as described
in the Stepper Compensation topic. To disable compensation, enter a 0 for this parameter.
C.3.8 Comp. Timeout
Default: 0
Range: 0 (no timeout) or 1 to 65535 seconds
This parameter is available only on stepper axes. It is one of several parameters that control the
compensation feature. For a complete description of the compensation feature, see the Stepper
Compensation topic.
When the axis is stopped outside the In Position Window, compensation will be applied to try to
move the axis back to within the window. If the axis is not able to move back into the In Position
Window in the time specified by the Compensation Timeout parameter, the Timeout bit will be set
in the Status word. This bit can be used to trigger a hard stop on the axis, as controlled by the
Auto Stop Mask parameter. Do not use the soft stop with this bit, since the axis is already
stopped, so the closed loop stop initiated by the soft stop does nothing.
A Compensation Timeout of 0 will disable the timeout feature so compensation will continue until
the position moves within the window.