Delta RMC101 Bedienungsanleitung PDF herunterladen (Seite 196)

100

101

RMC100 and RMCWin User Manual

4-10

MODE

ACCEL

100

200

DECEL

100

200

SPEED

20000

25000

30000

35000

Profile

(0C)

(0D)

(0E)

(0F)

MODE

ACCEL

200

100

DECEL

200

100

SPEED

40000

45000

50000

10000

4.5 Reference Axis Filtering

When positions and velocities are used as references for moves made on other axes, whether for

electronic gearing, geared splines, or geared sine moves, it is often desirable to filter the

reference input to reduce the noise induced mechanically, electrically, or through quantization

error.

The RMC100 provides position filtering on axes with position or velocity inputs through a special

reference state. The reference state is defined as follows:

• 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, Reference

Deadband, Velocity Limit, and Acceleration Limit parameters described below. Axes gearing to

this reference axis should select to gear to the reference axis's Target Position to use the

filtered position.

• The drive output is in open loop. It can be changed normally using Open Loop (O) commands.

In cases where the RMC100 is controlling an axes used as a reference by another axis, the

effect of Actual Position noise on the geared axis can be eliminated by gearing to the reference

axis's Target Position instead of the Actual Position.

• While in the reference state, all motion commands for this axis are disabled. For example, Go

(G) and Relative Move (J) commands will generate an Invalid Command parameter error but

otherwise be ignored.

An axis enters and exits the reference state through one of two means:

• Analog inputs configured as Position Reference and Velocity Reference axes are always in the

reference state and have the filter parameters applied. The filter parameters are included in the

sixteen axis parameters, and can be edited like any other axis parameter. The Reference (W)

command can also be used to change these parameters.

• All axes with position or velocity inputs can use the Reference (W) command to place the axis in

the reference state. The Reference (W) command parameters define the filter parameters. The

axis remains in the reference state until a Set Parameters (P) command is issued, which will

place the axis back into closed loop, disable the position filter, and re-enable motion commands.

The filter is controlled by the following four parameters. The effects of each are shown in

1 2 ... 191 192 193 194 195 196 197 198 199 200 201 ... 950 951

Kommentare zu diesen Handbüchern

Keine Kommentare

Delta RMC101 Bedienungsanleitung Seite 196

Kommentare zu diesen Handbüchern

Verwandte Produkte und Handbücher für Sensoren Delta RMC101