Delta RMC151 - Manual (Page 1051)

9 Register Reference
F9:45 4699 D04698 REAL %MD9.45 REAL PFID Output
Secondary Control: Pressure or Force Axes
F9:44
4697 D04696 REAL %MD9.44 REAL Pressure/Force Error
F9:46 4701 D04700 REAL %MD9.46 REAL Pressure/Force Proportional
Term
F9:47 4703 D04702 REAL %MD9.47 REAL Pressure/Force Integral Term
F9:48 4705 D04704 REAL %MD9.48 REAL Pressure/Force Differential
Term
F9:49 4707 D04706 REAL %MD9.49 REAL Pressure/Force Feed Forward
Term
F9:50 4709 D04708 REAL %MD9.50 REAL Pressure/Force Rate Feed
Forward Term
Target
F9:53
4715 D04714 REAL %MD9.53 REAL Target Position
F9:54 4717 D04716 REAL %MD9.54 REAL Target Velocity
F9:55 4719 D04718 REAL %MD9.55 REAL Target Acceleration
F9:56 4721 D04720 REAL %MD9.56 REAL Command Position
F9:57 4723 D04722 REAL %MD9.57 REAL Command Velocity
F9:58 4725 D04724 REAL %MD9.58 REAL Target Jerk
F9:59 4727 D04726 REAL %MD9.59 DINT Cycles
F9:60 4729 D04728 REAL %MD9.60 REAL Target Pressure/Force
F9:61 4731 D04730 REAL %MD9.61 REAL Command Pressure/Force
F9:62 4733 D04732 REAL %MD9.62 DINT Cycles (Pressure/Force)
Custom Feedback
F9:64
4737 + b D04736 +
b
DWORD %MD9.64 DWORD Custom Error Bits
F9:65 4739 + b D04738 +
b
REAL %MD9.65 REAL Primary Custom Counts
F9:66 4741 + b D04740 +
b
REAL %MD9.66 REAL Secondary Custom Counts
Axis 2
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
F10:0
5121 D05120 DWORD %MD10.0 DWORD Status Bits
F10:1 5123 D05122 DWORD %MD10.1 DWORD Error Bits
F10:2 5125 D05124 REAL %MD10.2 DINT Last Error Number
F10:4 5129 D05128 REAL %MD10.4 REAL Read Response
Position/Velocity Control
F10:6
5133 D05132 REAL %MD10.6 DINT Current Control Mode
F10:7 5135 D05134 REAL %MD10.7 DINT Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
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