Delta RMC151 - Manual (Page 999)

9 Register Reference
Range: Same (0), Opposite (1), Bidirectional (2)
Default Value: Same (0)
Description
This register defines the orientation of the pressure/force relative to the orientation of the
position or velocity when in closed-loop control, or of the Control Output when in open-
loop control. It is important that this parameter is set correctly so that the Control Output
will be the correct polarity.
For Closed-Loop Control
Orientation Description
Same
The pressure/force increases as the position units increase.
Opposite The pressure/force decreases as the position units increase.
For Open-Loop Control
Orientation Description
Same
The pressure/force increases with positive Control Output.
Opposite The pressure/force decreases with positive Control Output.
Changing this Parameter
Because this parameter affects motion, the axis must be disabled or in Direct Output
before writing to this parameter. The Enabled and Direct Output Status Bits indicate these
states of the axis. When changing this parameter from RMCTools, the software will
automatically do this for you. This may cause a halt on the axis, which is expected.
Format Details
The Pressure/Force Orientation is selected with bits 5-6. These bits correspond to the
Pressure/Force Orientation as shown in the following table:
Bit 6 Bit 5 Value Pressure/Force Orientation
0 0 0 Same
0 1 1 Opposite
See the Primary Control Register and Secondary Control Register topics for details about
the register containing these bits.
9.2.2.5.9. Secondary Control Configuration Register
Type: Axis Parameter Register
RMC70 Address: %MDn.80, where n = 12 + the axis number
RMC150 Address: %MDn.80, where n = 24 + the axis number
System Tag: _Axis[0].SecControlBits, where n is the axis number
How to Find: See individual parameters below
Data Type: DWORD - see below
Description
The Control Configuration register contains the bit-addressable control configuration
parameters. This topic lists the bit address for each parameter. Each parameter is
accessible in RMCTools via the Axis Parameter Editor. For details on each parameter, see
the respective links.
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