Delta RMC151 - Manual (Page 901)

9 Register Reference
Type: Axis Status Register
RMC70 Address: %MDn.58, where n = 8 + the axis number
RMC150 Address: %MDn.58, where n = 8 + the axis number
System Tag: _Axis[n].TarJrk, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Target
Data Type: REAL
Units: pu/sec 3
Description
When the axis is in Closed Loop control, the Target Jerk is the calculated instantaneous
ideal jerk (rate of change of acceleration) for the axis. The Target Jerk is calculated every
loop by the target generator of the RMC.
9.2.1.7.7. Cycles
Type: Axis Status Register
RMC70 Address: %MDn.59, where n = 8 + the axis number
RMC150 Address: %MDn.59, where n = 8 + the axis number
System Tag: _Axis[n].Cycles, where n is the axis number
How to Find: Axes Status Registers Pane, All tab: Target
Data Type: DINT
Description
The Cycles status register gives the whole number of cycles that the current position sine
move or curve has completed. After a sine move or curve has completed or been
interrupted, this will remain at its current value. This value is reset each time a position
sine move or curve is started.
For continuous moves (without a fixed number of cycles), this value will wrap to zero
after it reaches 10,000,000 and then continue incrementing. For moves with a fixed
number of cycles, this value will not go beyond the requested cycle count.
If you need more status information on the sine move or curve, such as the cycle
fraction, you can use the Status Block defined by the Sine Start (72) and Curve Start
Advanced (88) commands.
9.2.1.7.8. Command Pressure/Force
Type: Axis Status Register
RMC70 Address: %MDn.61, where n = 8 + the axis number
RMC150 Address: %MDn.61, where n = 8 + the axis number
System Tag: Pressure Input: _Axis[n].CmdPrs, where n is the axis number
Force Input: _Axis[n].CmdFrc, where n is the axis number
How to Find: Axes Status Registers Pane, Basic tab
Data Type: REAL
Units: Pr or Fr
Description
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