Delta RMC151 - Manual (Page 1115)

9 Register Reference
Ff:30 4157 + b D5156 +
b
DINT %MDf.30 DINT Raw Counts B
Output: Analog Control Output Axes
Ff:33
4163 + b D4162 +
b
REAL %MDf.33 REAL Control Output
Primary Control: Position/Velocity Axes
Ff:35
4167 + b D4166 +
b
REAL %MDf.35 REAL Position Error
Ff:36 4169 + b D4168 +
b
REAL %MDf.36 REAL Velocity Error
Ff:37 4171 + b D4170 +
b
REAL %MDf.37 REAL Proportional Term
Ff:38 4173 + b D4172 +
b
REAL %MDf.38 REAL Integral Term
Ff:39 4175 + b D4174 +
b
REAL %MDf.39 REAL Differential Term
Ff:40 4177 + b D4176 +
b
REAL %MDf.40 REAL Double Differential Output Term
Ff:41 4179 + b D4178 +
b
REAL %MDf.41 REAL Velocity Feed Forward Term
Ff:42 4181 + b D4180 +
b
REAL %MDf.42 REAL Acceleration Feed Forward Term
Ff:43 4183 + b D4182 +
b
REAL %MDf.43 REAL Jerk Feed Forward Term
Ff:44 4185 + b D4184 +
b
REAL %MDf.44 REAL Triple Differential Output Term
Ff:45 4187 + b D4186 +
b
REAL %MDf.45 REAL PFID Output
Primary Control: Pressure or Force Axes
Ff:35
4167 + b D4166 +
b
REAL %MDf.35 REAL Pressure/Force Error
Ff:37 4171 + b D4170 +
b
REAL %MDf.37 REAL Pressure/Force Proportional
Term
Ff:38 4173 + b D4172 +
b
REAL %MDf.38 REAL Pressure/Force Integral Term
Ff:39 4175 + b D4174 +
b
REAL %MDf.39 REAL Pressure/Force Differential Term
Ff:40 4177 + b D4176 +
b
REAL %MDf.40 REAL Pressure/Force Feed Forward
Term
Ff:41 4179 + b D4178 +
b
REAL %MDf.41 REAL Pressure/Force Rate Feed
Forward Term
Ff:45 4187 + b D4186 +
b
REAL %MDf.45 REAL PFID Output
Secondary Control: Pressure or Force Axes
Ff:44
4185 + b D4184 +
b
REAL %MDf.44 REAL Pressure/Force Error
Ff:46 4189 + b D4188 +
b
REAL %MDf.46 REAL Pressure/Force Proportional
Term
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