Rockwell Automation SA500 Drive Configuration and Programming - Manual (Page 71)

Configuring the UDC Module’s Registers 3-39
Motor Speed in RPM Register 217/1217
The Motor Speed in RPM register contains the speed of the motor in
revolutions per minute. A positive number in this register indicates a
forward direction; a negative number indicates a reverse direction. Sug. Var. Name: RPM%
Units: RPM
Range: N/A
Access: Read only
Note that this register is not intended for closed loop control.
Position Error Register 218/1218
The Position Error register contains the error output value of the
position loop. An error value of 4095 equals one mechanical
revolution of the resolver. Sug. Var. Name: POS_ERR%
Units: Counts
Range: +/-4095
Access: Read only
Speed Loop P+I Output Register. 219/1219
The Speed Loop P+I Output register contains the proportional and
integral torque output of the speed loop. A value of 4095 equals the
torque limit. Sug. Var. Name: SPI_OUT%%
Units: Counts
Range: +/-4095
Access: Read only
Speed Loop Feedforward Output Register 220/1220
This register contains the feedforward output value of the PMI speed
loop. A value of 4095 equals the torque limit. Sug. Var. Name: WR2_COMP%
Units: Counts
Range: +/-4095
Access: Read only
Slip RPM Register 221/1221
The Slip RPM register contains the slip value in RPM. This register is
used only when vector or vector speed loop enhanced regulation is
selected. Sug. Var. Name: SLP_RPM%
Units: RPM
Range: Motor dependent
Access: Read only