Delta MMC120 - Manual (Page 129)

129
*Parameter Error --- 05 ------/ / / / / / / / / / / /
*Position Overflow
–
06 -------/ / / / / / / / / / /
*Integrator Windup
–
07 --------/ / / / / / / / / /
*Following Error --- 08 ---------/ / / / / / / / /
/ / / / / / / /
Acknowledge ------- 09 -----------/ / / / / / / /
Initialized ------- 10 ------------/ / / / / / /
State B ----------- 11 -------------/ / / / / /
State A ----------- 12 --------------/ / / / /
/ / / /
Open Loop --------- 13 ----------------/ / / /
Halt -------------- 14 -----------------/ / /
Stopped ----------- 15 ------------------/ /
In Position ------- 16 -------------------/
* Can cause a Soft or Hard Stop if the corresponding bits are set in the AUTO STOP
field.
** Will cause either a Soft or Hard Stop depending how
AUTO STOP bits 9, 10, and 11
are set.
DRIVE
DRIVE is the output to the actuator in millivolts. The 12-bit (4000 step) digital value
output, -10000 (full negative drive) to 10000 (full positive drive) will generate a ±10 volt
output in steps of 0.005 volts. The internal drive calculations are done to 14-bit
resolution. This additional resolution is used to "dither" the least significant bit of the
output, giving additional resolution.
NOTE: Software adjusts the null. There are no hardware nulling adjustments on the
motion control module. Null drive will be near 0 volts.
Why Bother?
If the DRIVE tries to go below –10,000 or above 10,000, an overdrive condition has
occurred; reduce SPEED to correct this.
ACTUAL SPEED
The ACTUAL SPEED is the calculated speed at which the axis is moving at any point in
time. It is based on changes in TRANSDUCER COUNTS , displayed in position units
per second, and updated every loop. The Actual Speed is only calculated for last four
controller scans so the value it calculates is greatly affected by the resolution of the
transducer.