Delta RMC151 - Manual (Page 881)

9 Register Reference
Quadrature Inputs:
The Counts register accumulates encoder counts. The direction of the accumulation
depends on the sign of the Position Scale or Position Unwind parameter. This value
is adjusted when the axis is homed or when an Offset Position (47), Set Target
Position (48), or Set Actual Position (49) command is issued. This value will wrap
between -2,147,483,648 and +2,147,483,647. However, Delta recommends that
the this value never exceed 24 bits (16,777,216). See the Exceeding 24 Bits
section of the Feedback Resolution topic for details.
Resolver Inputs:
The Counts are the Raw Counts with the Count Offset applied. Also, for absolute
rotary axes, the Counts are in the opposite direction if the Position Unwind is
negative.
The Counts formula for positive Position Unwind is:
Counts = (RawCounts + CountOffset) MOD MaxCounts
For negative Position Unwind, the Counts formula is
Counts = ([MaxCounts-1] - RawCounts + CountOffset) MOD MaxCounts
Custom Inputs:
The Counts register takes on the value that is written to the Custom Counts
register.
See the Exceeding 24 Bits section of the Feedback Resolution topic for details on the
24-bit limitation of the Counts register.
9.2.1.3.8. Voltage
Type: Axis Status Register
RMC70 Address: Primary Input: %MDn.11, where n = 8 + the axis number
Secondary Input: %MDn.26, where n = 8 + the axis number
RMC150 Address: Primary Input: %MDn.11, where n = 8 + the axis number
Secondary Input: %MDn.26, where n = 8 + the axis number
System Tag: Primary Input: _Axis[n].Voltage
Secondary Input: _Axis[n].SecVoltage
where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Feedback
Data Type: REAL
Units: Volts
Description
The Volts register is the voltage feedback from an analog transducer. It is derived from
the raw counts register, which is the value from the 16-bit analog-to-digital converter.
The Voltage register is primarily for the user to set up and troubleshoot scaling.
The Voltage register is for axes with voltage feedback. The Current register is for axes
with current feedback. Axes with other feedback types do not have a Current or Voltage
register; they have a Counts register.
The RMC derives the Voltage from the Raw Counts, which is the value from the Analog-
to-Digital Converter. The calculations are listed below. These are approximate, as the
analog calibration values are also included in the calculation. The levels at which the
value saturates and certain errors occur are also included.
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