Delta RMC151 - Manual (Page 1113)

9 Register Reference
Holds the patch level of the
firmware version. For example,
for 3.30.0, this value will be 0,
and for 3.30.1, it will be 1.
RMC150 Registers, Files 8-23: Axis Status Registers
All Axis Status Registers are Read Only.
n = axis number (0-15)
f = 8 + n
b = 512 x n
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
Ff:0
4097 + b D4096 +
b
DWORD %MDf.0 DWORD Status Bits
Ff:1 4099 + b D4098 +
b
DWORD %MDf.1 DWORD Error Bits
Ff:2 4101 + b D4100 +
b
REAL %MDf.2 DINT Last Error Number
Ff:4 4105 + b D4104 +
b
REAL %MDf.4 REAL Read Response
Position/Velocity Control
Ff:6
4109 + b D4108 +
b
REAL %MDf.6 DINT Current Control Mode
Ff:7 4111 + b D4110 +
b
REAL %MDf.7 DINT Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
Ff:8
4113 + b D4112 +
b
REAL %MDf.8 REAL Actual Position
Ff:9 4115 + b D4114 +
b
REAL %MDf.9 REAL Actual Velocity
Ff:10 4117 + b D4116 +
b
REAL %MDf.10 REAL Actual Acceleration
Ff:11 4119 + b D4118 +
b
REAL %MDf.11 REAL Counts/Current/Voltage
Ff:12 4121 + b D4120 +
b
DINT %MDf.12 DINT Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
Ff:8
4113 + b D4112 +
b
REAL %MDf.8 REAL Actual Pressure/Force, Actual
Acceleration
Ff:9 4115 + b D4114 +
b
REAL %MDf.9 REAL Actual Pressure/Force Rate,
Actual Jerk
Ff:11 4119 + b D4118 +
b
REAL %MDf.11 REAL Current/Voltage
Ff:12 4121 + b D4120 +
b
DINT %MDf.12 DINT Raw Counts
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