Actual Acceleration (Control)

Type:	Axis Status Register
Address:	RMC75: n/a RMC150: n/a RMC200: Position/Velocity Input: %MDn.38, where n = 256 + the axis number Primary Acceleration Input: %MDn.36, where n = 256 + the axis number Secondary Acceleration Input: %MDn.96, where n = 256 + the axis number
System Tag:	Primary Input: _Axis[n].ActAccControl Secondary Input: _Axis[n].SecActAccControl where n is the axis number
How to Find:	Axes Status Registers Pane, All tab, Feedback section
Data Type:	REAL
Units:	pu/sec2

Description

The Actual Acceleration (Control) value is the acceleration feedback with the control filter applied. This value is used by the control algorithm for the PID calculations. The value may be filtered again by the display filter, and the final filtered value is given by the Actual Acceleration status register.

The Actual Acceleration (Control) value is valuable for detailed troubleshooting because it shows the exact value that the control-algorithm is operating on, whereas the commonly used Actual Acceleration is typically a filtered value that will differ slightly from the Actual Acceleration (Control) value.

See Actual Acceleration and Filtering topics for more details.