Delta RMC151 - Manual (Page 870)

RMC70/150 and RMCTools User Manual
Issuing a motion command will also clear any error bits whose underlying error condition
has gone away.
Error Bits
Bit Tag
Register Name
0 FollowErr Following Error
If the axis is in closed loop position control, this bit is set
when the Position Error exceeds the Position Error Tolerance
parameter.
If the axis is in closed loop velocity control, this bit is set
when the Velocity Error exceeds the Velocity Error Tolerance
parameter.
This error is not used in I-PD control.
1 - Reserved
2 OutSat Output Saturated
If the Control Output exceeds the Output Limit parameter
(positive or negative), then the Control Output is saturated
and this bit is set. This bit is not set when the Control
Output is limited at the DAC output stage. It is just silently
truncated. Truncation at this stage results from applying the
Output Bias and/or Output Polarity.
3 FaultIn Fault Input
This bit is set when the Fault input for the axis goes active.
Notice that there is also a Fault Input State status bit that is
not latched as this error bit is.
Some axes do not have a Fault Input.
4 PosLimitIn Positive Limit Input
This bit is set when the Positive Limit Input becomes active.
Do not confuse this with the Positive Overtravel bit.
5 NegLimitIn Negative Limit Input
This bit is set when the Negative Limit Input becomes
active. Do not confuse this with the Positive Overtravel bit.
6 NoTrans No Transducer
This bit is set when the RMC detects that no transducer is
connected. The following list indicates when this occurs for
various transducer types.
Analog
Voltage
This bit will not turn on for voltage
feedback. The Transducer Overflow
bit is used instead.
Analog
Current
The current is less than 3.6mA.
MDT RMC70: The RMC does not detect a
start pulse (for Start/Stop) or rising
edge on the Return pulse (for PWM).
RMC150: The RMC has not detected
a start pulse (for Start/Stop) or rising
edge on the Return pulse (for PWM)
for the last six (6) control loops.
Quadrature The RMC70 detects a broken A or B
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