Delta RMC151 - Manual (Page 867)

9 Register Reference
1 1 Ramping
Control
Output
toward 0 V
Decelerating Decelerating
(toward 0
velocity)
Decelerating
in Closed
Loop
Decelerating
or Ramping
Down the
Control
Output
11 TGStateB Primary Target Generator State B
See the Target Generator State A bit for a description of how these bits work. Specific
details on the Target Generator status bit are also included in the help topics for each
motion command.
12 DirectOut Direct Output
When this bit is set, the axis in a Direct Output state. The axis is in open loop control
ignores all error bits, and the Auto Stops have no effect.
The Direct Output (9) command, and the Direct Output Halt will turn on this bit. If the
axis is disabled with the Enable/Disable Axis (97) command, this bit will turn on. If th
axis is enabled, any motion command (except Direct Output (9)) will turn off this bit.
Certain parameters that affect motion require the Direct Output Status bit to be on
when changing their values.
13 Enabled Enabled
This bit is set when the Enable Controller (7) or Enable/Disable Axis (97) command is
issued to the axis. Motion commands are not allowed on the axis if this bit is not set
14 ExtHalt External Halt
This bit is set when External Halt has occurred. An External Halt can only be triggered
by an Auto Stop.
15 Halted Halted
This bit is set when one of the following halts occurs: Open Loop Halt, Open Loop Hal
with Disable Drive, or Closed Loop Halt.
These halts can then be triggered via Auto Stops or via explicit commands - see each
halt topic for details.
16 PFControl Pressure/Force Control
This bit is set when the axis is in closed-loop pressure or force control.
This bit will not be set for pressure/force limit; see the Pressure/Force Limit Enabled
and Pressure/Force Limited bits below.
17 PFLimitEnabled Pressure/Force Limit Enabled
This bit is set when Pressure/Force Limit mode is enabled on the axis. When this bit i
set, pressure or force will be limited to the Target Pressure/Force. Pressure/Force Lim
mode can only be enabled or disabled with the Set Pressure/Force Limit Mode (40)
command.
This bit does not indicate whether pressure/force is being limited. To determine
whether pressure or force is being limited, see the Pressure/Force Limited bit.
18 PFLimited Pressure/Force Limited
This bit is set when the pressure/force is currently being limited. That is, the position
or velocity control is actually being affected in order to limit the pressure/force. This b
can only be on if the Pressure/Force Limit Enabled bit is on. See the Pressure Limit
topic for details on pressure control.
This bit will not be set in pressure/force control; see the Pressure/Force Control bit
above.
19 AtPF At Pressure/Force
This bit indicates that the Actual Pressure/Force has reached the Command
Pressure/Force.
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