Delta RMC151 - Manual (Page 1047)

9 Register Reference
F8:9 4115
D04114 REAL %MD8.9 REAL Actual Differential Force Rate,
Actual Jerk
F8:10 4117
D04116 REAL %MD8.10 REAL Actual Force A, Channel A
Acceleration
F8:11 4119 D04118 REAL %MD8.11 REAL Voltage A/Current A
F8:12 4121 D04120 DINT %MD8.12 DINT Raw Counts A
F8:13 4123 D04122 REAL %MD8.13 REAL Actual Force B, Channel B
Acceleration
F8:14 4125 D04124 REAL %MD8.14 REAL Voltage B/Current B
F8:15 4127 D04126 DINT %MD8.15 DINT Raw Counts B
Home/Registration: Quadrature Axes
F8:18
4133 D04132 DWORD %MD8.18 DWORD Home/Registration Bits
F8:19 4135 D04134 REAL %MD8.19 REAL Registration 0 Position
F8:20 4137 D04136 REAL %MD8.20 REAL Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
F8:23
4143 D04142 REAL %MD8.23 REAL Actual Pressure/Force, Actual
Acceleration
F8:24 4145 D04144 REAL %MD8.24 REAL Actual Pressure/Force Rate,
Actual Jerk
F8:26 4149 D04148 REAL %MD8.26 REAL Current/Voltage
F8:27 4151 D04150 DINT %MD8.27 DINT Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F8:23
4143 D04142 REAL %MD8.23 REAL Actual Differential Force, Actual
Acceleration
F8:24 4145
D04144 REAL %MD8.24 REAL Actual Differential Force Rate,
Actual Jerk
F8:25 4147
D04146 REAL %MD8.25 REAL Actual Force A, Channel A
Acceleration
F8:26 4149 D04148 REAL %MD8.26 REAL Voltage A/Current A
F8:27 4151 D04150 DINT %MD8.27 DINT Raw Counts A
F8:28 4153
D04152 REAL %MD8.28 REAL Actual Force B, Channel B
Acceleration
F8:29 4155 D04154 REAL %MD8.29 REAL Voltage B/Current B
F8:30 4157 D04156 DINT %MD8.30 DINT Raw Counts B
Output: Analog Control Output Axes
F8:33
4163 D04162 REAL %MD8.33 REAL Control Output
Primary Control: Position/Velocity Axes
F8:35
4167 D04166 REAL %MD8.35 REAL Position Error
F8:36 4169 D04168 REAL %MD8.36 REAL Velocity Error
F8:37 4171 D04170 REAL %MD8.37 REAL Proportional Term
F8:38 4173 D04172 REAL %MD8.38 REAL Integral Term
F8:39 4175 D04174 REAL %MD8.39 REAL Differential Term
F8:40 4177 D04176 REAL %MD8.40 REAL Double Differential Output Term
F8:41 4179 D04177 REAL %MD8.41 REAL Velocity Feed Forward Term
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