Delta RMC151 - Manual (Page 1049)

9 Register Reference
Axis 1
AB
DF1,CSP
Address
Modbus
TCP,RTU
Address
FINS
Address
External
Data
Type
Internal
IEC
Address
Internal
Data
Type Register Name
Common Registers: All Axes
F9:0
4609 D04608 DWORD %MD9.0 DWORD Status Bits
F9:1 4611 D04610 DWORD %MD9.1 DWORD Error Bits
F9:2 4613 D04612 REAL %MD9.2 DINT Last Error Number
F9:4 4617 D04616 REAL %MD9:4 REAL Read Response
Position/Velocity Control
F9:6
4621 D04620 REAL %MD9.6 DINT Current Control Mode
F9:7 4623 D04622 REAL %MD9.7 DINT Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
F9:8
4625 D04624 REAL %MD9.8 REAL Actual Position
F9:9 4627 D04626 REAL %MD9.9 REAL Actual Velocity
F9:10 4629 D04628 REAL %MD9.10 REAL Actual Acceleration
F9:11 4631 D04630 REAL %MD9.11 REAL Counts/Current/Voltage
F9:12 4633 D04632 DINT %MD9.12 DINT Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
F9:8
4625 D04624 REAL %MD9.8 REAL Actual Pressure/Force, Actual
Acceleration
F9:9 4627
D04626 REAL %MD9.9 REAL Actual Pressure/Force Rate,
Actual Jerk
F9:11 4631 D04630 REAL %MD9.11 REAL Current/Voltage
F9:12 4633 D04632 DINT %MD9.12 DINT Raw Counts
Primary Input: Dual-Input Force or Acceleration Axes
F9:8
4625 D04624 REAL %MD9.8 REAL Actual Differential Force, Actual
Acceleration
F9:9 4627
D04626 REAL %MD9.9 REAL Actual Differential Force Rate,
Actual Jerk
F9:10 4629
D04628 REAL %MD9.10 REAL Actual Force A, Channel A
Acceleration
F9:11 4631 D04630 REAL %MD9.11 REAL Voltage A/Current A
F9:12 4633 D04632 DINT %MD9.12 DINT Raw Counts A
F9:13 4635 D04634 REAL %MD9.13 REAL Actual Force B, Channel B
Acceleration
F9:14 4637 D04636 REAL %MD9.14 REAL Voltage B/Current B
F9:15 4639 D04638 DINT %MD9.15 DINT Raw Counts B
Home/Registration: Quadrature Axes
F9:18
4645 D04644 DWORD %MD9.18 DWORD Home/Registration Bits
F9:19 4647 D04646 REAL %MD9.19 REAL Registration 0 Position
F9:20 4649 D04648 REAL %MD9.20 REAL Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
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