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RMC70/150 and RMCTools User Manual
Double Differential Output Term .................................................................................................................. 871
Differential Output Term .............................................................................................................................. 872
Triple Differential Output Term .................................................................................................................... 872
Acceleration Feed Forward Term.................................................................................................................. 872
Velocity Feed Forward Term ........................................................................................................................ 873
Jerk Feed Forward Term ............................................................................................................................... 873
PFID Output .................................................................................................................................................. 873
Current Control Mode ................................................................................................................................... 874
Next Pos/Vel Control Mode .......................................................................................................................... 875
Secondary Control ............................................................................................................................................ 875
Pressure/Force Error ..................................................................................................................................... 875
Pressure/Force Proportional Term................................................................................................................. 876
Pressure/Force Integral Term ........................................................................................................................ 876
Pressure/Force Differential Term .................................................................................................................. 877
Pressure/Force Feed Forward Term .............................................................................................................. 877
Pressure/Force Rate Feed Forward Term ...................................................................................................... 878
Target ................................................................................................................................................................ 878
Command Position ........................................................................................................................................ 878
Command Velocity ....................................................................................................................................... 879
Target Position .............................................................................................................................................. 879
Target Velocity ............................................................................................................................................. 880
Target Acceleration ....................................................................................................................................... 880
Target Jerk .................................................................................................................................................... 880
Cycles............................................................................................................................................................ 881
Command Pressure/Force ............................................................................................................................. 881
Target Pressure/Force.................................................................................................................................... 882
Target Pressure/Force Rate ........................................................................................................................... 882
Cycles (Pressure or Force) ............................................................................................................................ 882
Home/Registration ............................................................................................................................................ 883
Registration 0 Position .................................................................................................................................. 883
Registration 1 Position .................................................................................................................................. 883
Encoder Status .............................................................................................................................................. 884
Axis Parameter Registers .....................................................................................................................887
Axis Parameter Registers Overview.................................................................................................................. 887
Feedback ........................................................................................................................................................... 888
Position Scale ................................................................................................................................................ 888
Position Offset .............................................................................................................................................. 889
Velocity Scale ............................................................................................................................................... 890
Velocity Deadband ........................................................................................................................................ 890
Velocity Offset .............................................................................................................................................. 891
Acceleration Scale ......................................................................................................................................... 892
Acceleration Offset ....................................................................................................................................... 892
Channel A, B Acceleration Scale .................................................................................................................. 893
Channel A, B Acceleration Offset ................................................................................................................. 894
Position Unwind ............................................................................................................................................ 895
Count Unwind ............................................................................................................................................... 896
Count Offset .................................................................................................................................................. 896
Absolute/Incremental .................................................................................................................................... 898
Linear/Rotary ................................................................................................................................................ 898
Stop Threshold .............................................................................................................................................. 899
Noise Error Rate............................................................................................................................................ 900
Display Units ................................................................................................................................................ 901
Custom Units ................................................................................................................................................ 902
Primary Input Bits Register ........................................................................................................................... 903
Filtering/Modeling ........................................................................................................................................ 904
Pressure & Force ........................................................................................................................................... 917
Limit Inputs ................................................................................................................................................... 920
Transducer Specific ....................................................................................................................................... 923
Custom .......................................................................................................................................................... 942
Simulator ........................................................................................................................................................... 944
Simulate Mode .............................................................................................................................................. 944
System Gain (Simulator) ............................................................................................................................... 944
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