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Type: |
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Address: |
RMC75: n/a RMC150: n/a RMC200: %MDn.40.0-3, where n = 384 + the axis number |
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System Tag: |
_Axis[n].FilterConfig.Type, where n is the axis number |
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How to Find: |
Axes Parameters Pane, All tab: Output |
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Data Type: |
Bits |
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Default Value: |
0 (none) |
Description
This parameter selects the RMC200 input Filter Algorithm Type. The input filter applies to the feedback values that the control algorithm uses. The RMC200 also has a separate display filter, which further filters the values that have already been filtered by the input filter.
The input filter options are:
None (0)
No input filter is applied. Notice that a Display Filter may still be active.
Low Pass 1P (1)
Low-pass single-pole filter, with individual cut-off frequencies for the Position, Velocity, and Acceleration, or the Pressure/Force and Pressure/Force Rate.
Low Pass BW2 (2)
Low-pass two-pole Butterworth filter, with individual cut-off frequencies for the Position, Velocity, and Acceleration, or the Pressure/Force and Pressure/Force Rate.
Low Pass BW4 (3)
Low-pass four-pole Butterworth filter, with individual cut-off frequencies for the Position, Velocity, and Acceleration, or the Pressure/Force and Pressure/Force Rate.
Low Pass ABG (4)
Low-pass Alpha-Beta-Gamma filter, with a single cut-off frequency for the Position, Velocity, and Acceleration, or the Pressure/Force and Pressure/Force Rate.
Low Pass ABGD (5)
Low-pass Alpha-Beta-Gamma-Delta filter, with a single cut-off frequency for the Position, Velocity, and Acceleration, or the Pressure/Force and Pressure/Force Rate.
Model (10)
Uses the system model to calculate the Actual Velocity and Actual Acceleration. The Actual Position remains unfiltered. Only available for position feedback.
For more details, see Filter Algorithm Types.
Format Details
This section is primarily for addressing the Input Filter Type parameter when communicating with the RMC from an external device. This information is not necessary when configuring this parameter in RMCTools.
|
Bit 3 |
Bit 2 |
Bit 1 |
Bit 0 |
Value |
Filter Type |
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0 |
0 |
0 |
0 |
0 |
None |
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0 |
0 |
0 |
1 |
1 |
Low Pass 1P |
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0 |
0 |
1 |
0 |
2 |
Low Pass BW2 |
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0 |
0 |
1 |
1 |
3 |
Low Pass BW4 |
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0 |
1 |
0 |
0 |
4 |
Low Pass ABG |
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0 |
1 |
0 |
1 |
5 |
Low Pass ABGD |
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1 |
0 |
1 |
0 |
10 |
Model |
See the Filter Configuration Register for details about the register containing these bits.
See Also
Filter Configuration Register | Modeling | Filter Algorithm Types
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