Pressure/Force Rate Input Filter (RMC200)

Type:	Axis Parameter Register
Address:	RMC75: n/a RMC150: n/a RMC200: Primary Input: %MDn.46, where n = 384 + the axis number Secondary Input: %MDn.106, where n = 384 + the axis number
System Tag:	Primary Input: _Axis[n].PrsRateInputFilter, where n is the axis number _Axis[n].FrcRateInputFilter, where n is the axis number Secondary Input: _Axis[n].SecPrsRateInputFilter, where n is the axis number _Axis[n].SecFrcRateInputFilter, where n is the axis number
How to Find:	Axes Parameters Pane, All tab: Feedback→Input Filter Axes Parameters Pane, All tab: Secondary Feedback→Input Filter
Data Type:	REAL
Units:	Hz
Range:	0: Off Minimum: 0.01 Maximum: See Limits below
Default Value:	0

Description

The RMC200 Pressure/Force Rate Input Filter parameter specifies the cut-off frequency of the filter in Hertz. This filter is applied to the Actual Pressure/Force Rate that is used in the control algorithm. Setting this value to zero (0) disables the Pressure/Force Rate Input filter. This filter is only available if the Input Filter Type has been set to a filter type that uses the Pressure/Force Rate Input Filter.

The Pressure/Force Rate Input Filter is part of the Input Filter, which filters the feedback values used by the control algorithm. This differs from the Pressure/Force Rate Display Filter axis parameter, which is part of the Display Filter. Feedback values are first filtered by the Input Filter, if it is enabled, and then also by the Display Filter, before being displayed as the final feedback values.

This parameter does not apply to the filter algorithm types that use only a single cut-off frequency for the pressure or force and the pressure rate or force rate. This includes the ABG and ABGD filters.

For more details, see Filtering.

Limits

The filter is disabled (without notice to the user) when the frequency is set above the maximum frequencies listed below, or below the minimum value.

Filter Algorithm Type	Min Cut-off Frequency	Max Cut-off Frequency
Low Pass, Single Pole	0.01	50% x loop frequency
Low Pass, 2-pole Butterworth	0.01	25% x loop frequency
Low Pass, 4-pole Butterworth	0.01	25% x loop frequency