Delta RMC151 - Manual (Page 148)

RMC70/150 and RMCTools User Manual
On pressure or force axes, the Target Rate will always be zero. Therefore, the
Pressure/Force Rate Feed Forward will have no effect for constant interpolated
curves.
Interpolation Options
The interpolation options are specified in the curve data. The available options depend on
the interpolation method, as shown in the table below. Add the numbers for each desired
option. For example, to choose Cyclic Curve and Overshoot Protection, the Interpolation
Option value would be 2+8 = 10.
Interpolation
Type Interpolation Options
Constant None
Linear None
Cubic Endpoint Behavior
Choose only one. See the Endpoint Behavior section below for details.
+0 Zero-Velocity Endpoints
+1 Natural-Velocity Endpoints
+2 Cyclic Curve
Overshoot Protection
Choose only one. See the Overshoot Protection section below for
details.
+0 Disabled
+8 Enabled
Auto Constant Velocity
Choose only one. See the Auto Constant Velocity section below for
details.
+0 Disabled
+16 Enabled
Endpoint Behavior
This option defines the behavior at the endpoints. Each option below shows a plot for the
following cubic curve data with 9 points at 0.25 second intervals:
Y-axis 1.0 1.5 1.6 1.7 1.6 1.2 1.3 1.4 1.0
time 0.00 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00
• +0 Zero-Velocity Endpoints
The endpoints will have zero velocity and acceleration. This is the most commonly-
used option. Curves with zero-velocity endpoints can be repeated cyclically.
128 Delta Computer Systems, Inc.