Delta RMC151 - Manual (Page 865)

9 Register Reference
is not latched and will clear if the axis speed moves back outside the At Velocity
window.
This bit is only used when controlling velocity in a mode that has a requested velocity
Therefore, it will be clear in Open Loop, Position Control, or Velocity Control in modes
such as gearing that have no final requested velocity. For these cases, to determine
whether an axis has reached the constant velocity portion of the move, use the Targe
Generator State A and State B status bits.
2 OpenLoop Open Loop
This bit is set when the axis is in Open Loop control or in the Direct Output state.
This bit will be off when Pressure/Force Limit is enabled, even if the axis was in open
loop previously.
3 FaultIn Fault Input
This bit is set when the Fault Input on the axis indicates a fault condition.
4 PosLimitIn Positive Limit Input
This bit is set when the Positive Limit Input is active.
5 NegLimitIn Negative Limit Input
This bit is set when the Negative Limit Input is active.
6 Stopped Stopped
This bit is set when the axis is stopped.
For control axes, this is defined as when the Target Velocity is zero and the Actual
Velocity is less than the Stop Threshold parameter. The axis must be in closed-loop
control.
For reference axes, this is defined as when the Actual Velocity is less than the Stop
Threshold parameter.
7 InputEst Input Estimated
The Input Estimated bit indicates that the position or velocity input is currently being
estimated due to any of these errors:
• No Transducer Error
• Transducer Overflow Error
• Noise Error
Not all the error bits listed above apply to all input types. See the individual error bits
for details.
"Estimated" means that the feedback value is not accurate. It does not necessarily
mean that it is being estimated to a high degree of certainty.
Position Inputs
In general (see below for actual details), when one of the errors listed above occurs,
the Input Estimated bit will turn on to indicate an error condition exists and the
feedback value is being estimated. If the error condition occurs for successive 3 loop
times, the associated error bit will be set. Once the underlying error condition has go
away, the Input Estimated bit will remain on for two loop times before clearing.
The Input Estimated bit is set in the following cases:
• If a No Transducer or Transducer Overflow condition exists, the Input Estimated b
is always set, even after the No Transducer or Transducer Overflow error bit is set
following the first 3 loop times. The RMC estimates the position by extrapolating th
last two positions.
• For the RMC150 MDT module, if a No Transducer condition exists, the Input
Estimated bit will be on for up to 6 loop times before the No Transducer Error bit
will be set.
• For non-Quadrature feedback, the Input Estimated bit is set if a Noise Error
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