Delta RMC151 - Manual (Page 1120)

RMC70/150 and RMCTools User Manual
Ff:43 12375 +
b
D12374 +
b
REAL %MDf.43 DINT Default Pos/Vel Control Mode
Ff:56 12401 +
b
D12400 +
b
REAL %MDf.56 REAL In Position Tolerance
Ff:57 12403 +
b
D12402 +
b
REAL %MDf.57 REAL Position Error Tolerance
Ff:58 12405 +
b
D12404 +
b
REAL %MDf.58 REAL At Velocity Tolerance
Ff:59 12407 +
b
D12406 +
b
REAL %MDf.59 REAL Velocity Error Tolerance
Ff:60 12409 +
b
D12408 +
b
REAL %MDf.60 DWORD Primary Control Register
Position/Velocity Gain Set #1
Ff:61
12411 +
b
D12410 +
b
REAL %MDf.61 REAL Proportional Gain
Ff:62 12413 +
b
D12412 +
b
REAL %MDf.62 REAL Integral Gain
Ff:63 12415 +
b
D12414 +
b
REAL %MDf.63 REAL Differential Gain
Ff:65 12419 +
b
D12418 +
b
REAL %MDf.65 REAL Velocity Feed Forward,
Velocity Feed Forward
(Positive)
Ff:66 12421 +
b
D12420 +
b
REAL %MDf.66 REAL Acceleration Feed Forward
Ff:67 12423 +
b
D12422 +
b
REAL %MDf.67 REAL Jerk Feed Forward
Ff:68 12425 +
b
D12424 +
b
REAL %MDf.68 REAL Velocity Feed Forward
(Negative)
Ff:69 12427 +
b
D12426 +
b
REAL %MDf.69 REAL Double Differential Gain,
Active Damping Proportional
Gain
Ff:70 12429 +
b
D12428 +
b
REAL %MDf.70 REAL Triple Differential Gain,
Active Damping Differential
Gain
Ff:71 12431 +
b
D12430 +
b
REAL %MDf.71 DINT High-Order Control
Position/Velocity Gain Set #2
Ff:128
12545 +
b
D12544 +
b
REAL %MDf.128 REAL Proportional Gain
Ff:129 12547 +
b
D12546 +
b
REAL %MDf.129 REAL Integral Gain
Ff:130 12549 +
b
D12548 +
b
REAL %MDf.130 REAL Differential Gain
Ff:132 12553 +
b
D12552 +
b
REAL %MDf.132 REAL Velocity Feed Forward,
Velocity Feed Forward
(Positive)
Ff:133 12555 +
b
D12554 +
b
REAL %MDf.133 REAL Acceleration Feed Forward
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