Delta RMC151 - Manual (Page 927)

9 Register Reference
• Filtering makes the plots look cleaner.
• Filtering can be used to "smooth" the velocity of a reference input.
• Filtering the input can reduce noise in the feedback which may improve system control.
9.2.2.2.20.4. Acceleration Filter Type
Type: Axis Parameter Register
RMC70 Address: %MDn.9/15-16, where n = 12 + the axis number
RMC150 Address: %MDn.9/6-7 , where n = 24 + the axis number
System Tag: _Axis[n].PriInputBits.AccelFilterType, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback → Filtering/Modeling
Data Type: Bits
Range: Status Only (0), Low-Pass (1), Model (2)
Default Value: Status Only (0)
Description
This parameter specifies how the Actual Acceleration Filter is used by the RMC:
• Status Only (default setting)
The Actual Acceleration Filter applies only to the Actual Acceleration status register.
The control algorithm uses the unfiltered acceleration.
• Low-Pass
The Actual Acceleration Filter applies to both the Actual Acceleration status register
and the acceleration value used by the control algorithm. If you want the filter to
apply to the control, choose this option.
• Model
The Actual Acceleration Filter is not used. Instead, the Model is used to calculate the
Actual Acceleration. This value is then used for both the Actual Acceleration status
register and the control algorithm. This option is only available if the Model Order
parameter is defined.
Notice that the model will be used only if a valid model can be calculated. See the
modeling topic for details.
For best control, if you select Low-Pass or Model, then you should also select the same for
the Velocity Filter Type and ensure that the Actual Position filter, Actual Velocity Filter,
and Actual Acceleration filter are the same values.
Format Details
This section is primarily for addressing the Acceleration Filter Type parameter when
communicating with the RMC from an external device. This information is not necessary
when configuring this parameter in RMCTools.
RMC70
Bit
16
Bit
15
Value Filter
Type
0 0 0 Status
Only
0 1 1 Low-Pass
1 0 2 Model
RMC150
Bit
7
Bit
6
Value Filter
Type
0 0 0 Status
Only
0 1 1 Low-Pass
1 0 2 Model
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