Delta RMC151 - Manual (Page 1059)

9 Register Reference
F12:22 6189 D06188 REAL %MD12.22 REAL Actual Pressure/Force Filter,
Actual Acceleration Filter
F12:23 6191 D06190 REAL %MD12.23 REAL Actual Pressure/Force Rate
Filter, Actual Jerk Filter
F12:24 6193 D06192 REAL %MD12.24 REAL Noise Error Rate
Secondary Feedback: Analog Transducer
F12:28 6201
D06200 REAL %MD12.28 DWORD Analog Config Register
Analog Control Output
F12:32 6209
D06208 REAL %MD12.32 REAL Output Limit
F12:33 6211 D06210 REAL %MD12.33 REAL Output Bias
F12:34 6213 D06212 REAL %MD12.34 DWORD Output Register
Final Output Stage
F12:38 6221
D06220 REAL %MD12.38 REAL Output Scale
F12:39 6223 D06222 REAL %MD12.39 REAL Primary Output Filter
F12:40 6225 D06224 REAL %MD12.40 REAL Secondary Output Filter
F12:41 6227 D06226 REAL %MD12.41 REAL Deadband Tolerance
F12:42 6229 D06228 REAL %MD12.42 REAL Output Deadband
F12:44 6233 D06232 REAL %MD12.44 REAL Knee Command Voltage
F12:45 6235 D06234 REAL %MD12.45 REAL Knee Flow Percentage
Primary Control: Servo Position Axes
F12:43 6231
D06230 REAL %MD12.43 DINT Default Pos/Vel Control Mode
F12:56 6257 D06256 REAL %MD12.56 REAL In Position Tolerance
F12:57 6259 D06258 REAL %MD12.57 REAL Position Error Tolerance
F12:58 6261 D06260 REAL %MD12.58 REAL At Velocity Tolerance
F12:59 6263 D06262 REAL %MD12.59 REAL Velocity Error Tolerance
F12:60 6265 D06264 REAL %MD12.60 DWORD Primary Control Register
Position/Velocity Gain Set #1
F12:61 6267
D06266 REAL %MD12.61 REAL Proportional Gain
F12:62 6269 D06268 REAL %MD12.62 REAL Integral Gain
F12:63 6271 D06270 REAL %MD12.63 REAL Differential Gain
F12:65 6275 D06274 REAL %MD12.65 REAL Velocity Feed Forward,
Velocity Feed Forward
(Positive)
F12:66 6277 D06276 REAL %MD12.66 REAL Acceleration Feed Forward
F12:67 6279 D06278 REAL %MD12.67 REAL Jerk Feed Forward
F12:68 6281 D06280 REAL %MD12.68 REAL Velocity Feed Forward
(Negative)
F12:69 6283 D06282 REAL %MD12.69 REAL Double Differential Gain,
Active Damping Proportional
Gain
F12:70 6285 D06284 REAL %MD12.70 REAL Triple Differential Gain,
Active Damping Differential
Gain
deltamotion.com 1039