Delta RMC101 Manual do Utilizador descarregar pdf (Página 855)

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Appendix C: Parameter Field Reference

C-85

By lowering the Acceleration Limit parameter, the Target Position changes to the following:

Notice that the Target Position was smoothed at the start of the step jump by limiting the

acceleration of the Target Position.

The Acceleration Limit is ignored if the position filter is disabled through the Filter Time Constant

parameter.

The Acceleration Limit parameter must be at least equal to the Velocity Limit (in pos-units/sec)

divided by twice the Filter Time Constant (in ms). For example, with a Filter Time Constant of 2

ms and a Velocity Limit of 1000 position units per second, the minimum Acceleration Limit will be

250. This limit is introduced because lower values for the Acceleration Limit would result in the

Target Position overshooting the Actual Position significantly.

This and the other position filter parameters can also be changed through the Reference (W)

command.

For details on reference axis filtering, see Reference Axis Filtering.

C.6.10 Filter Time Constant (Reference)

Default: 0 (disabled)

Range: 1 to 65,535 milliseconds, or 0 to disable

1 2 ... 850 851 852 853 854 855 856 857 858 859 860 ... 950 951

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