Delta RMC101 - Manual (Page 529)

Communication Tasks 5.9
Communications 5-279
Status
Word 18433 +
6144*n
18432 +
6144*n
N(72+24*n):0 DB(210+6*n).DBW0
Drive 19457 +
6144*n
19456 +
6144*n
N(76+24*n):0 DB(211+6*n).DBW0
Extra Plot
Data #1† 20481 +
6144*n
20480 +
6144*n
N(80+24*n):0 DB(212+6*n).DBW0
Extra Plot
Data #2† 21505 +
6144*n
21504 +
6144*n
N(84+24*n):0 DB(213+6*n).DBW0
†See the sections below for details on these arrays.
Position Units
The positions returned in these arrays are not in position units. The numbers returned are
unsigned 16-bit numbers. To convert a ”r;position” returned in the array, perform the following
math:
Position_real = ( Position_plot x Sign ) + Offset
In this equation, Sign will be +1 if the Scale is positive and -1 if the Scale is negative. For best
results, this equation should be worked out using 32-bit integers or floating point math.
Extra Plot Data
Refer to the Selecting the Data to Plot topic for details on selecting the data to be entered into the
last two plot arrays. The exact formats of the plot arrays are described below:
• Extra Position Precision:
When reading extra precision graphs, Extra Plot Data #1 gives the fractional portion of the
Target Position, and Extra Plot Data #2 gives the fractional portion of the Actual Position.
To calculate the fraction, treat the fraction as an unsigned 16-bit number, and divide it by 65536.
Then, add this number (which will be less than one) to the raw Target and Actual Positions
returned in the first two plot arrays.
Note: Add the fractions before converting the raw Target and Actual to final Target and Actual
Positions are described in the section above.
• Command/Command Value:
Extra Plot Data #1 gives the Command, and Extra Plot Data #2 gives the Command Value.
• Current Event/Link Value:
Extra Plot Data #1 gives the Event Step, and Extra Plot Data #2 gives the Link Value.
• Raw Transducer Counts:
Extra Plot Data #1 gives the low 16-bits of the Raw Transducer Counts. Extra Plot Data #2 gives
the high 16-bits of the same internal register.
• Internal Speeds:
Extra Plot Data #1 holds the Target Speed, and Extra Plot Data #2 holds the Actual Speed. Both
are in position units per second.
• Integral Drive: