Delta RMC151 - Manual (Page 894)

RMC70/150 and RMCTools User Manual
Type: Axis Status Register
RMC70 Address: %MDn.45, where n = 8 + the axis number
RMC150 Address: %MDn.45, where n = 8 + the axis number
System Tag: _Axis[n].PFIDOutput, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Data Type: REAL
Units: % of maximum control output
Description
The PFID Output register is the sum of all control components, including proportional,
integral, differential, and feed forward terms, plus any pressure/force limiting,
acceleration control, or active damping contributions. In short, this register gives the
intended control output percentage.
This value will be affected by the Output Scale, Feed Forward Ratio, Output Deadband,
Output Limit, and Output Bias before generating an actual voltage on the Control Output.
If the Invert Output Polarity parameter is set, the measured physical output voltage will
be negative of what is displayed in this register.
9.2.1.5.12. Current Control Mode
Type: Axis Status Register
RMC70 Address: %MDn.6, where n = 8 + the axis number
RMC150 Address: %MDn.6, where n = 8 + the axis number
System Tag: _Axis[n].CtlMode, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Control
Data Type: DINT
Description
The Current Control Mode is the control mode that the axis is currently in. The
Current Control Mode register does not indicate whether the axis is in pressure or force
limit. Use the Status Bits register for pressure or force limit information.
Values Control Mode
0
None
1 Direct Output
2 Open Loop
3 Position PID
874 Delta Computer Systems, Inc.