Delta RMC151 - Manual (Page 150)

RMC70/150 and RMCTools User Manual
When overshoot protection is enabled, the velocity is set to zero at each local
minimum/maximum point, which eliminates the chance of the curve overshooting that
point for the curve segments on either side of the point.
For Advanced format curves, Overshoot Protection will not apply to Fixed-Velocity points,
or points at the beginning or end of a Constant-Velocity segment.
Example 1
Consider the cubic curve data in the Endpoint Behavior section above. Without
Overshoot Protection enabled, the curve looks like this:
Notice that the curve overshoots the points after times 0.75, 1.25, and before 1.75.
With overshoot protection enabled, the curve will look like this:
Notice that the curve no longer overshoots the points after times 0.75, 1.25, and
before 1.75. Notice, however, that the curve still overshoots between points 0.25
and 0.5 because neither point is a local minimum or maximum.
Auto-Constant Velocity
The Auto-Constant Velocity option will automatically insert a linear segment in the curve
if three or more data points are in a straight line.
If you have also selected Overshoot Protection, be aware that the points identified as
local minimums or maximums do not count as consecutive points for the Auto-Constant
Velocity (see the example below).
For Advanced format curves, be aware that the Fixed Velocity type points do not count as
consecutive points for the Auto-Constant Velocity (see the example below).
Example 2
Consider the cubic curve data in the Endpoint Behavior section above. The points
at times 0.25, 0.50, and 0.75 are in a straight line, as are the points at times 1.25,
1.50, and 1.75. With the Auto-Constant Velocity option, the curve will look like this:
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