Delta RMC151 - Manual (Page 1055)

9 Register Reference
F11:8 5649 D05648 REAL %MD11.8 REAL Actual Differential Force, Actual
Acceleration
F11:9 5651
D05650 REAL %MD11.9 REAL Actual Differential Force Rate,
Actual Jerk
F11:10 5653
D05652 REAL %MD11.10 REAL Actual Force A, Channel A
Acceleration
F11:11 5655 D05654 REAL %MD11.11 REAL Voltage A/Current A
F11:12 5657 D05656 DINT %MD11.12 DINT Raw Counts A
F11:13 5659 D05658 REAL %MD11.13 REAL Actual Force B, Channel B
Acceleration
F11:14 5661 D05660 REAL %MD11.14 REAL Voltage B/Current B
F11:15 5663 D05662 DINT %MD11.15 DINT Raw Counts B
Home/Registration: Quadrature Axes
F11:18 5669
D05668 DWORD %MD11.18 DWORD Home/Registration Bits
F11:19 5671 D05670 REAL %MD11.19 REAL Registration 0 Position
F11:20 5673 D05672 REAL %MD11.20 REAL Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
F11:23 5679
D05678 REAL %MD11.23 REAL Actual Pressure/Force, Actual
Acceleration
F11:24 5681 D05680 REAL %MD11.24 REAL Actual Pressure/Force Rate,
Actual Jerk
F11:26 5685 D05684 REAL %MD11.26 REAL Current/Voltage
F11:27 5687 D05686 DINT %MD11.27 DINT Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F11:23 5679
D05678 REAL %MD11.23 REAL Actual Differential Force, Actual
Acceleration
F11:24 5681
D05680 REAL %MD11.24 REAL Actual Differential Force Rate,
Actual Jerk
F11:25 5683
D05682 REAL %MD11.25 REAL Actual Force A, Channel A
Acceleration
F11:26 5685 D05684 REAL %MD11.26 REAL Voltage A/Current A
F11:27 5687 D05686 DINT %MD11.27 DINT Raw Counts A
F11:28 5689
D05688 REAL %MD11.28 REAL Actual Force B, Channel B
Acceleration
F11:29 5691 D05690 REAL %MD11.29 REAL Voltage B/Current B
F11:30 5693 D05692 DINT %MD11.30 DINT Raw Counts B
Output: Analog Control Output Axes
F11:33 5699
D05698 REAL %MD11.33 REAL Control Output
Primary Control: Position/Velocity Axes
F11:35 5703
D05702 REAL %MD11.35 REAL Position Error
F11:36 5705 D05704 REAL %MD11.36 REAL Velocity Error
F11:37 5707 D05706 REAL %MD11.37 REAL Proportional Term
F11:38 5709 D05708 REAL %MD11.38 REAL Integral Term
F11:39 5711 D05710 REAL %MD11.39 REAL Differential Term
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