Delta RMC151 - Manual (Page 1053)

9 Register Reference
F10:28 5177
D05176 REAL %MD10.28 REAL Actual Force B, Channel B
Acceleration
F10:29 5179 D05178 REAL %MD10.29 REAL Voltage B/Current B
F10:30 5181 D05180 DINT %MD10.30 DINT Raw Counts B
Output: Analog Control Output Axes
F10:33 5187
D05186 REAL %MD10.33 REAL Control Output
Primary Control: Position/Velocity Axes
F10:35 5191
D05190 REAL %MD10.35 REAL Position Error
F10:36 5193 D05192 REAL %MD10.36 REAL Velocity Error
F10:37 5195 D05194 REAL %MD10.37 REAL Proportional Term
F10:38 5197 D05196 REAL %MD10.38 REAL Integral Term
F10:39 5199 D05198 REAL %MD10.39 REAL Differential Term
F10:40 5201 D05200 REAL %MD10.40 REAL Double Differential Output
Term
F10:41 5203 D05202 REAL %MD10.41 REAL Velocity Feed Forward Term
F10:42 5205 D05204 REAL %MD10.42 REAL Acceleration Feed Forward
Term
F10:43 5207 D05206 REAL %MD10.43 REAL Jerk Feed Forward Term
F10:44 5209 D05208 REAL %MD10.44 REAL Triple Differential Output Term
F10:45 5211 D05210 REAL %MD10.45 REAL PFID Output
Primary Control: Pressure or Force Axes
F10:35 5191
D05190 REAL %MD10.35 REAL Pressure/Force Error
F10:37 5195
D05194 REAL %MD10.37 REAL Pressure/Force Proportional
Term
F10:38 5197 D05196 REAL %MD10.38 REAL Pressure/Force Integral Term
F10:39 5199
D05198 REAL %MD10.39 REAL Pressure/Force Differential
Term
F10:40 5201
D05200 REAL %MD10.40 REAL Pressure/Force Feed Forward
Term
F10:41 5203
D05202 REAL %MD10.41 REAL Pressure/Force Rate Feed
Forward Term
F10:45 5211 D05210 REAL %MD10.45 REAL PFID Output
Secondary Control: Pressure or Force Axes
F10:44 5209
D05208 REAL %MD10.44 REAL Pressure/Force Error
F10:46 5213 D05212 REAL %MD10.46 REAL Pressure/Force Proportional
Term
F10:47 5215 D05214 REAL %MD10.47 REAL Pressure/Force Integral Term
F10:48 5217 D05216 REAL %MD10.48 REAL Pressure/Force Differential
Term
F10:49 5219 D05218 REAL %MD10.49 REAL Pressure/Force Feed Forward
Term
F10:50 5221 D05220 REAL %MD10.50 REAL Pressure/Force Rate Feed
Forward Term
Target
F10:53 5227
D05226 REAL %MD10.53 REAL Target Position
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