Delta RMC151 - Manual (Page 1027)

9 Register Reference
Register Bits Description Values
Register (n x 4)+0: Axis and Input Types
(n x 4)+0
0-7 Axis Type 0 - None
1 - Servo Position Control
3 - Servo Velocity Control
5 - Pressure Control
6 - Force (single-input) Control
7 - Force (dual-input, diff.) Control
8 - Position-Pressure Control
9 - Position-Force (single-input) Control
10 - Position-Force (dual-input, diff.)
Control
11 - Velocity-Pressure Control
12 - Velocity-Force (single-input)
Control
13 - Velocity-Force (dual-input, diff.)
Control
14 - Position Reference
15 - Velocity Reference
16 - Pressure Reference
17 - Force (single-input) Reference
18 - Force (dual-input, diff.) Reference
19 - Virtual Reference
20 - Analog Output Only
22 - Position-Accel (single-input)
Control
23 - Position-Accel (dual-input, diff.)
Control
24 - Velocity-Accel (single-input)
Control
25 - Velocity-Accel (dual-input, diff.)
Control
26 - Accel (single-input) Reference
27 - Accel (dual-input, diff.) Reference
8-15 Reserved
16-23 Input 0 (Primary) Type 0 - None
1 - Position
2 - Velocity
3 - Pressure
4 - Force (single-input)
5 - Force (dual-input, diff.)
6 - Accel (single-input)
7 - Accel (dual-input, diff.)
24-31 Input 1 (Secondary) Type Same as Input 0 (Primary) Type
Register (n x 4)+1: Input 0 Feedback
(n x 4)+1
0-3 Feedback 0.0 Type 0 - None
1 - MDT/SSI (RMC70 only)
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