Retract limit, Velocity limit (reference), C.6.7 retract limit – Delta RMC101 User Manual
Page 853: C.6.8 velocity limit (reference)
Appendix C: Parameter Field Reference
C-83
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.6.7 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.6.8 Velocity Limit (Reference)
Default: 65,535
Range: 0 to 65,535 position units per second
Note:
This parameter is available in RMC100 CPU firmware dated 20020222 or later.
This parameter is available on analog Position and Velocity Reference axes and configures the
position filter. For reference axes, the Actual Position status field reflects the actual reading from
the transducer, and the Target Position reflects the filtered position, after applying the Filter Time
Constant, Deadband, Velocity Limit, and Acceleration Limit parameters. This parameter limits the
Target Velocity to the specified number of position units per second.
For example, suppose that the Actual Position jumps from 4100 to 4500 position units. With a
high Velocity Limit (65,535) and a non-zero Filter Time Constant, the Target Position would be
computed as follows: