RMC150 Register Map - File 8-23 Axis Status

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
Primary Input: Dual-Input Force or Acceleration Axes
Ff:8	4113 + b	D4112 + b	REAL	%MDf.8	REAL	Actual Differential Force, Actual Acceleration
Ff:9	4115 + b	D4114 + b	REAL	%MDf.9	REAL	Actual Differential Force Rate, Actual Jerk
Ff:10	4117 + b	D4116 + b	REAL	%MDf.10	REAL	Actual Force A, Channel A Acceleration
Ff:11	4119 + b	D4118 + b	REAL	%MDf.11	REAL	Voltage A/Current A
Ff:12	4121 + b	D4120 + b	DINT	%MDf.12	DINT	Raw Counts A
Ff:13	4123 + b	D4122 + b	REAL	%MDf.13	REAL	Actual Force B, Channel B Acceleration
Ff:14	4125 + b	D4124 + b	REAL	%MDf.14	REAL	Voltage B/Current B
Ff:15	4127 + b	D4126 + b	DINT	%MDf.15	DINT	Raw Counts B
Home/Registration: Quadrature Axes
Ff:18	4133 + b	D4132 + b	DWORD	%MDf.18	DWORD	Encoder Status Bits
Ff:19	4135 + b	D4134 + b	REAL	%MDf.19	REAL	Registration 0 Position
Ff:20	4137 + b	D4136 + b	REAL	%MDf.20	REAL	Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
Ff:23	4143 + b	D4142 + b	REAL	%MDf.23	REAL	Actual Pressure/Force, Actual Acceleration
Ff:24	4145 + b	D4144 + b	REAL	%MDf.24	REAL	Actual Pressure/Force Rate, Actual Jerk
Ff:26	4149 + b	D4148 + b	REAL	%MDf.26	REAL	Current/Voltage
Ff:27	4151 + b	D4150 + b	DINT	%MDf.27	DINT	Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
Ff:23	4143 + b	D4142 + b	REAL	%MDf.23	REAL	Actual Differential Force, Actual Acceleration
Ff:24	4145 + b	D4144 + b	REAL	%MDf.24	REAL	Actual Differential Force Rate, Actual Jerk
Ff:25	4147 + b	D4146 + b	REAL	%MDf.25	REAL	Actual Force A, Channel A Acceleration
Ff:26	4149 + b	D4148 + b	REAL	%MDf.26	REAL	Voltage A/Current A
Ff:27	4151 + b	D4150 + b	DINT	%MDf.27	DINT	Raw Counts A
Ff:28	4153 + b	D4152 + b	REAL	%MDf.28	REAL	Actual Force B, Channel B Acceleration
Ff:29	4155 + b	D4154 + b	REAL	%MDf.29	REAL	Voltage B/Current B
Ff:30	4157 + b	D5156 + b	DINT	%MDf.30	DINT	Raw Counts B
Output: Analog Control Output Axes
Ff:33	4163 + b	D4162 + b	REAL	%MDf.33	REAL	Control Output
Primary Control: Position/Velocity Axes
Ff:35	4167 + b	D4166 + b	REAL	%MDf.35	REAL	Position Error
Ff:36	4169 + b	D4168 + b	REAL	%MDf.36	REAL	Velocity Error
Ff:37	4171 + b	D4170 + b	REAL	%MDf.37	REAL	Proportional Term
Ff:38	4173 + b	D4172 + b	REAL	%MDf.38	REAL	Integral Term
Ff:39	4175 + b	D4174 + b	REAL	%MDf.39	REAL	Differential Term
Ff:40	4177 + b	D4176 + b	REAL	%MDf.40	REAL	Double Differential Output Term
Ff:41	4179 + b	D4178 + b	REAL	%MDf.41	REAL	Velocity Feed Forward Term
Ff:42	4181 + b	D4180 + b	REAL	%MDf.42	REAL	Acceleration Feed Forward Term
Ff:43	4183 + b	D4182 + b	REAL	%MDf.43	REAL	Jerk Feed Forward Term
Ff:44	4185 + b	D4184 + b	REAL	%MDf.44	REAL	Triple Differential Output Term
Ff:45	4187 + b	D4186 + b	REAL	%MDf.45	REAL	PFID Output
Ff:47	4191 + b	D4190 + b	REAL	%MDf.47	DINT	Current Integrator Mode
Primary Control: Pressure or Force Axes
Ff:35	4167 + b	D4166 + b	REAL	%MDf.35	REAL	Pressure/Force Error
Ff:37	4171 + b	D4170 + b	REAL	%MDf.37	REAL	Pressure/Force Proportional Term
Ff:38	4173 + b	D4172 + b	REAL	%MDf.38	REAL	Pressure/Force Integral Term
Ff:39	4175 + b	D4174 + b	REAL	%MDf.39	REAL	Pressure/Force Differential Term
Ff:40	4177 + b	D4176 + b	REAL	%MDf.40	REAL	Pressure/Force Feed Forward Term
Ff:41	4179 + b	D4178 + b	REAL	%MDf.41	REAL	Pressure/Force Rate Feed Forward Term
Ff:45	4187 + b	D4186 + b	REAL	%MDf.45	REAL	PFID Output
Ff:47	4191 + b	D4190 + b	REAL	%MDf.47	DINT	Current Integrator Mode
Secondary Control: Pressure or Force Axes
Ff:46	4189 + b	D4188 + b	REAL	%MDf.46	REAL	Pressure/Force Error
Ff:48	4193 + b	D4192 + b	REAL	%MDf.48	REAL	Pressure/Force Proportional Term
Ff:49	4195 + b	D4194 + b	REAL	%MDf.49	REAL	Pressure/Force Integral Term
Ff:50	4197 + b	D4196 + b	REAL	%MDf.50	REAL	Pressure/Force Differential Term
Ff:51	4199 + b	D4198 + b	REAL	%MDf.51	REAL	Pressure/Force Feed Forward Term
Ff:52	4201 + b	D4200 + b	REAL	%MDf.52	REAL	Pressure/Force Rate Feed Forward Term
Target
Ff:53	4203 + b	D4202 + b	REAL	%MDf.53	REAL	Target Position
Ff:54	4205 + b	D4204 + b	REAL	%MDf.54	REAL	Target Velocity
Ff:55	4207 + b	D4206 + b	REAL	%MDf.55	REAL	Target Acceleration
Ff:56	4209 + b	D4208 + b	REAL	%MDf.56	REAL	Command Position
Ff:57	4211 + b	D4210 + b	REAL	%MDf.57	REAL	Command Velocity
Ff:58	4213 + b	D4212 + b	REAL	%MDf.58	REAL	Target Jerk
Ff:59	4215 + b	D4214 + b	REAL	%MDf.59	DINT	Cycles
Ff:60	4217 + b	D4216 + b	REAL	%MDf.60	REAL	Target Pressure/Force
Ff:61	4219 + b	D4218 + b	REAL	%MDf.61	REAL	Command Pressure/Force
Ff:62	4221 + b	D4220 + b	REAL	%MDf.62	DINT	Cycles (Pressure/Force)
Custom Feedback
Ff:64	4225 + b	D4224 + b	DWORD	%MDf.64	DWORD	Custom Error Bits
Ff:65	4227 + b	D4226 + b	REAL	%MDf.65	REAL	Primary Custom Counts
Ff:66	4229 + b	D4228 + b	REAL	%MDf.66	REAL	Secondary Custom Counts