Delta RMC151 - Manual (Page 149)

3 Controller Features
• +1 Natural-Velocity Endpoints
The endpoints will have their velocity automatically selected to match the natural
slope of the curve at the endpoints. The acceleration at the endpoints will be zero.
Curves with natural-velocity endpoints cannot be repeated cyclically because the
endpoint velocities are typically not equal.
• +2 Cyclic Curve
The endpoints are assumed to wrap. Therefore the acceleration, velocity, and
position will be continuous between cycles of this curve, although the velocity and
acceleration at each endpoint will not necessarily be zero.
If the y-values of the first and last points are not equal, and the curve is run for
more than 1 consecutive cycle, the curve will be automatically offset so that the
first point of the next cycle matches the last point of the previous cycle.
For Advanced format curves, if an endpoint is defined as a Fixed Velocity type, it
will use that velocity even if the curve is cyclic. Setting each endpoint to a different
fixed velocity will cause a discontinuity in the velocity between cycles of the curve,
but the curve can still be used cyclically.
Overshoot Protection
The Overshoot Protection option prevents the curve from exceeding a local maximum or
local minimum point. A local maximum occurs where a point is greater than or equal to
both the preceding point and the following point. A local minimum occurs where a point is
less than or equal to both the preceding point and the following point. Overshoot
protection will not prevent overshooting in other locations.
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