RMC75 Register Map - File 8-11 Axis Status Registers

RMC75 Registers, Files 8-11: Axis Status Registers

All Axis Status Registers are Read Only.

Axis 0

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
F8:0	4097	D04096	DWORD	%MD8.0	DWORD	Status Bits
F8:1	4099	D04098	DWORD	%MD8.1	DWORD	Error Bits
F8:2	4101	D04100	REAL	%MD8.2	DINT	Last Error Number
F8:4	4105	D04104	REAL	%MD8.4	REAL	Read Response
Position/Velocity Control
F8:6	4109	D04108	REAL	%MD8.6	DINT	Current Control Mode
F8:7	4111	D04110	REAL	%MD8.7	DINT	Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
F8:8	4113	D04112	REAL	%MD8.8	REAL	Actual Position
F8:9	4115	D04114	REAL	%MD8.9	REAL	Actual Velocity
F8:10	4117	D04116	REAL	%MD8.10	REAL	Actual Acceleration
F8:11	4119	D04118	REAL	%MD8.11	REAL	Counts/Current/Voltage
F8:12	4121	D04120	DINT	%MD8.12	DINT	Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
F8:8	4113	D04112	REAL	%MD8.8	REAL	Actual Pressure/Force, Actual Acceleration
F8:9	4115	D04114	REAL	%MD8.9	REAL	Actual Pressure/Force Rate, Actual Jerk
F8:11	4119	D04118	REAL	%MD8.11	REAL	Current/Voltage
F8:12	4121	D04120	DINT	%MD8.12	DINT	Raw Counts
Primary Input: Dual-Input Force or Acceleration Axes
F8:8	4113	D04112	REAL	%MD8.8	REAL	Actual Differential Force, Actual Acceleration
F8:9	4115	D04114	REAL	%MD8.9	REAL	Actual Differential Force Rate, Actual Jerk
F8:10	4117	D04116	REAL	%MD8.10	REAL	Actual Force A, Channel A Acceleration
F8:11	4119	D04118	REAL	%MD8.11	REAL	Voltage A/Current A
F8:12	4121	D04120	DINT	%MD8.12	DINT	Raw Counts A
F8:13	4123	D04122	REAL	%MD8.13	REAL	Actual Force B, Channel B Acceleration
F8:14	4125	D04124	REAL	%MD8.14	REAL	Voltage B/Current B
F8:15	4127	D04126	DINT	%MD8.15	DINT	Raw Counts B
Home/Registration: Quadrature Axes
F8:18	4133	D04132	DWORD	%MD8.18	DWORD	Encoder Status Bits
F8:19	4135	D04134	REAL	%MD8.19	REAL	Registration 0 Position
F8:20	4137	D04136	REAL	%MD8.20	REAL	Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
F8:23	4143	D04142	REAL	%MD8.23	REAL	Actual Pressure/Force, Actual Acceleration
F8:24	4145	D04144	REAL	%MD8.24	REAL	Actual Pressure/Force Rate, Actual Jerk
F8:26	4149	D04148	REAL	%MD8.26	REAL	Current/Voltage
F8:27	4151	D04150	DINT	%MD8.27	DINT	Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F8:23	4143	D04142	REAL	%MD8.23	REAL	Actual Differential Force, Actual Acceleration
F8:24	4145	D04144	REAL	%MD8.24	REAL	Actual Differential Force Rate, Actual Jerk
F8:25	4147	D04146	REAL	%MD8.25	REAL	Actual Force A, Channel A Acceleration
F8:26	4149	D04148	REAL	%MD8.26	REAL	Voltage A/Current A
F8:27	4151	D04150	DINT	%MD8.27	DINT	Raw Counts A
F8:28	4153	D04152	REAL	%MD8.28	REAL	Actual Force B, Channel B Acceleration
F8:29	4155	D04154	REAL	%MD8.29	REAL	Voltage B/Current B
F8:30	4157	D04156	DINT	%MD8.30	DINT	Raw Counts B
Output: Analog Control Output Axes
F8:33	4163	D04162	REAL	%MD8.33	REAL	Control Output
Primary Control: Position/Velocity Axes
F8:35	4167	D04166	REAL	%MD8.35	REAL	Position Error
F8:36	4169	D04168	REAL	%MD8.36	REAL	Velocity Error
F8:37	4171	D04170	REAL	%MD8.37	REAL	Proportional Term
F8:38	4173	D04172	REAL	%MD8.38	REAL	Integral Term
F8:39	4175	D04174	REAL	%MD8.39	REAL	Differential Term
F8:40	4177	D04176	REAL	%MD8.40	REAL	Double Differential Output Term
F8:41	4179	D04177	REAL	%MD8.41	REAL	Velocity Feed Forward Term
F8:42	4181	D04180	REAL	%MD8.42	REAL	Acceleration Feed Forward Term
F8:43	4183	D04182	REAL	%MD8.43	REAL	Jerk Feed Forward Term
F8:44	4185	D04184	REAL	%MD8.44	REAL	Triple Differential Output Term
F8:45	4187	D04186	REAL	%MD8.45	REAL	PFID Output
F8:47	4191	D04190	REAL	%MD8.47	DINT	Current Integrator Mode
Primary Control: Pressure or Force Axes
F8:35	4167	D04166	REAL	%MD8.35	REAL	Pressure/Force Error
F8:37	4171	D04170	REAL	%MD8.37	REAL	Pressure/Force Proportional Term
F8:38	4173	D04172	REAL	%MD8.38	REAL	Pressure/Force Integral Term
F8:39	4175	D04174	REAL	%MD8.39	REAL	Pressure/Force Differential Term
F8:40	4177	D04176	REAL	%MD8.40	REAL	Pressure/Force Feed Forward Term
F8:41	4179	D04178	REAL	%MD8.41	REAL	Pressure/Force Rate Feed Forward Term
F8:45	4187	D04186	REAL	%MD8.45	REAL	PFID Output
F8:47	4191	D04190	REAL	%MD8.47	DINT	Current Integrator Mode
Secondary Control: Pressure or Force Axes
F8:46	4189	D04188	REAL	%MD8.46	REAL	Pressure/Force Error
F8:48	4193	D04192	REAL	%MD8.48	REAL	Pressure/Force Proportional Term
F8:49	4195	D04194	REAL	%MD8.49	REAL	Pressure/Force Integral Term
F8:50	4197	D04196	REAL	%MD8.50	REAL	Pressure/Force Differential Term
F8:51	4199	D04198	REAL	%MD8.51	REAL	Pressure/Force Feed Forward Term
F8:52	4201	D04200	REAL	%MD8.52	REAL	Pressure/Force Rate Feed Forward Term
Target
F8:53	4203	D04202	REAL	%MD8.53	REAL	Target Position
F8:54	4205	D04204	REAL	%MD8.54	REAL	Target Velocity
F8:55	4207	D04206	REAL	%MD8.55	REAL	Target Acceleration
F8:56	4209	D04208	REAL	%MD8.56	REAL	Command Position
F8:57	4211	D04210	REAL	%MD8.57	REAL	Command Velocity
F8:58	4213	D04212	REAL	%MD8.58	REAL	Target Jerk
F8:59	4215	D04214	REAL	%MD8.59	DINT	Cycles
F8:60	4217	D04216	REAL	%MD8.60	REAL	Target Pressure/Force
F8:61	4219	D04218	REAL	%MD8.61	REAL	Command Pressure/Force
F8:62	4221	D04220	REAL	%MD8.62	DINT	Cycles (Pressure/Force)
Custom Feedback
F89:64	4225 + b	D04224 + b	DWORD	%MD8.64	DWORD	Custom Error Bits
F8:65	4227 + b	D04226 + b	REAL	%MD8.65	REAL	Primary Custom Counts
F8:66	4229 + b	D04228 + b	REAL	%MD8.66	REAL	Secondary Custom Counts

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
F9:23	4655	D04654	REAL	%MD9.23	REAL	Actual Pressure/Force, Actual Acceleration
F9:24	4657	D04656	REAL	%MD9.24	REAL	Actual Pressure/Force Rate, Actual Jerk
F9:26	4661	D04660	REAL	%MD9.26	REAL	Current/Voltage
F9:28	4663	D04662	DINT	%MD9.27	DINT	Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F9:23	4655	D04654	REAL	%MD9.23	REAL	Actual Differential Force, Actual Acceleration
F9:24	4657	D04656	REAL	%MD9.24	REAL	Actual Differential Force Rate, Actual Jerk
F9:25	4659	D04658	REAL	%MD9.25	REAL	Actual Force A, Channel A Acceleration
F9:26	4661	D04660	REAL	%MD9.26	REAL	Voltage A/Current A
F9:27	4663	D04662	DINT	%MD9.27	DINT	Raw Counts A
F9:28	4665	D04664	REAL	%MD9.28	REAL	Actual Force B, Channel B Acceleration
F9:29	4667	D04666	REAL	%MD9.29	REAL	Voltage B/Current B
F9:30	4669	D04668	DINT	%MD9.30	DINT	Raw Counts B
Output: Analog Control Output Axes
F9:33	4675	D04674	REAL	%MD9.33	REAL	Control Output
Primary Control: Position/Velocity Axes
F9:35	4679	D04678	REAL	%MD9.35	REAL	Position Error
F9:36	4681	D04680	REAL	%MD9.36	REAL	Velocity Error
F9:37	4683	D04682	REAL	%MD9.37	REAL	Proportional Term
F9:38	4685	D04684	REAL	%MD9.38	REAL	Integral Term
F9:39	4687	D04686	REAL	%MD9.39	REAL	Differential Term
F9:40	4689	D04688	REAL	%MD9.40	REAL	Double Differential Output Term
F9:41	4691	D04690	REAL	%MD9.41	REAL	Velocity Feed Forward Term
F9:42	4693	D04692	REAL	%MD9.42	REAL	Acceleration Feed Forward Term
F9:43	4695	D04694	REAL	%MD9.43	REAL	Jerk Feed Forward Term
F9:44	4697	D04696	REAL	%MD9.44	REAL	Triple Differential Output Term
F9:45	4699	D04698	REAL	%MD9.45	REAL	PFID Output
F9:47	4703	D04702	REAL	%MD9.47	DINT	Current Integrator Mode
Primary Control: Pressure or Force Axes
F9:35	4679	D04678	REAL	%MD9.35	REAL	Pressure/Force Error
F9:37	4683	D04682	REAL	%MD9.37	REAL	Pressure/Force Proportional Term
F9:38	4685	D04684	REAL	%MD9.38	REAL	Pressure/Force Integral Term
F9:39	4687	D04686	REAL	%MD9.39	REAL	Pressure/Force Differential Term
F9:40	4689	D04688	REAL	%MD9.40	REAL	Pressure/Force Feed Forward Term
F9:41	4691	D04690	REAL	%MD9.41	REAL	Pressure/Force Rate Feed Forward Term
F9:45	4699	D04698	REAL	%MD9.45	REAL	PFID Output
F9:47	4703	D04702	REAL	%MD9.47	DINT	Current Integrator Mode
Secondary Control: Pressure or Force Axes
F9:46	4701	D04700	REAL	%MD9.46	REAL	Pressure/Force Error
F9:48	4705	D04704	REAL	%MD9.48	REAL	Pressure/Force Proportional Term
F9:49	4707	D04706	REAL	%MD9.49	REAL	Pressure/Force Integral Term
F9:50	4709	D04708	REAL	%MD9.50	REAL	Pressure/Force Differential Term
F9:51	4711	D04710	REAL	%MD9.51	REAL	Pressure/Force Feed Forward Term
F9:52	4713	D04712	REAL	%MD9.52	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
F10:8	5137	D05136	REAL	%MD10.8	REAL	Actual Position
F10:9	5139	D05138	REAL	%MD10.9	REAL	Actual Velocity
F10:10	5141	D05140	REAL	%MD10.10	REAL	Actual Acceleration
F10:11	5143	D05142	REAL	%MD10.11	REAL	Counts/Current/Voltage
F10:12	5145	D05144	DINT	%MD10.12	DINT	Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
F10:8	5137	D05136	REAL	%MD10.8	REAL	Actual Pressure/Force, Actual Acceleration
F10:9	5139	D05138	REAL	%MD10.9	REAL	Actual Pressure/Force Rate, Actual Jerk
F10:11	5143	D05142	REAL	%MD10.11	REAL	Current/Voltage
F10:12	5145	D05144	DINT	%MD10.12	DINT	Raw Counts
Primary Input: Dual-Input Force or Acceleration Axes
F10:8	5137	D05136	REAL	%MD10.8	REAL	Actual Differential Force, Actual Acceleration
F10:9	5139	D05138	REAL	%MD10.9	REAL	Actual Differential Force Rate, Actual Jerk
F10:10	5141	D05140	REAL	%MD10.10	REAL	Actual Force A, Channel A Acceleration
F10:11	5143	D05142	REAL	%MD10.11	REAL	Voltage A/Current A
F10:12	5145	D05144	DINT	%MD10.12	DINT	Raw Counts A
F10:13	5147	D05146	REAL	%MD10.13	REAL	Actual Force B, Channel B Acceleration
F10:14	5149	D05148	REAL	%MD10.14	REAL	Voltage B/Current B
F10:15	5151	D05150	DINT	%MD10.15	DINT	Raw Counts B
Home/Registration: Quadrature Axes
F10:18	5157	D05156	DWORD	%MD10.18	DWORD	Home/Registration Bits
F10:19	5159	D05158	REAL	%MD10.19	REAL	Registration 0 Position
F10:20	5161	D05160	REAL	%MD10.20	REAL	Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
F10:23	5167	D05166	REAL	%MD10.23	REAL	Actual Pressure/Force, Actual Acceleration
F10:24	5169	D05168	REAL	%MD10.24	REAL	Actual Pressure/Force Rate, Actual Jerk
F10:26	5173	D05172	REAL	%MD10.26	REAL	Current/Voltage
F10:27	5175	D05174	DINT	%MD10.27	DINT	Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F10:23	5167	D05166	REAL	%MD10.23	REAL	Actual Differential Force, Actual Acceleration
F10:24	5169	D05168	REAL	%MD10.24	REAL	Actual Differential Force Rate, Actual Jerk
F10:25	5171	D05170	REAL	%MD10.25	REAL	Actual Force A, Channel A Acceleration
F10:26	5173	D05172	REAL	%MD10.26	REAL	Voltage A/Current A
F10:27	5175	D05174	DINT	%MD10.27	DINT	Raw Counts A
F10:28	5177	D05176	REAL	%MD10.28	REAL	Actual Force B, Channel B Acceleration
F10:29	5179	D05178	REAL	%MD10.29	REAL	Voltage B/Current B
F10:30	5181	D05180	DINT	%MD10.30	DINT	Raw Counts B
Output: Analog Control Output Axes
F10:33	5187	D05186	REAL	%MD10.33	REAL	Control Output
Primary Control: Position/Velocity Axes
F10:35	5191	D05190	REAL	%MD10.35	REAL	Position Error
F10:36	5193	D05192	REAL	%MD10.36	REAL	Velocity Error
F10:37	5195	D05194	REAL	%MD10.37	REAL	Proportional Term
F10:38	5197	D05196	REAL	%MD10.38	REAL	Integral Term
F10:39	5199	D05198	REAL	%MD10.39	REAL	Differential Term
F10:40	5201	D05200	REAL	%MD10.40	REAL	Double Differential Output Term
F10:41	5203	D05202	REAL	%MD10.41	REAL	Velocity Feed Forward Term
F10:42	5205	D05204	REAL	%MD10.42	REAL	Acceleration Feed Forward Term
F10:43	5207	D05206	REAL	%MD10.43	REAL	Jerk Feed Forward Term
F10:44	5209	D05208	REAL	%MD10.44	REAL	Triple Differential Output Term
F10:45	5211	D05210	REAL	%MD10.45	REAL	PFID Output
F10:47	5215	D05214	REAL	%MD10.47	DINT	Current Integrator Mode
Primary Control: Pressure or Force Axes
F10:35	5191	D05190	REAL	%MD10.35	REAL	Pressure/Force Error
F10:37	5195	D05194	REAL	%MD10.37	REAL	Pressure/Force Proportional Term
F10:38	5197	D05196	REAL	%MD10.38	REAL	Pressure/Force Integral Term
F10:39	5199	D05198	REAL	%MD10.39	REAL	Pressure/Force Differential Term
F10:40	5201	D05200	REAL	%MD10.40	REAL	Pressure/Force Feed Forward Term
F10:41	5203	D05202	REAL	%MD10.41	REAL	Pressure/Force Rate Feed Forward Term
F10:45	5211	D05210	REAL	%MD10.45	REAL	PFID Output
F10:47	5215	D05214	REAL	%MD10.47	DINT	Current Integrator Mode
Secondary Control: Pressure or Force Axes
F10:46	5213	D05212	REAL	%MD10.46	REAL	Pressure/Force Error
F10:48	5217	D05216	REAL	%MD10.48	REAL	Pressure/Force Proportional Term
F10:49	5219	D05218	REAL	%MD10.49	REAL	Pressure/Force Integral Term
F10:50	5221	D05220	REAL	%MD10.50	REAL	Pressure/Force Differential Term
F10:51	5223	D05222	REAL	%MD10.51	REAL	Pressure/Force Feed Forward Term
F10:52	5225	D05224	REAL	%MD10.52	REAL	Pressure/Force Rate Feed Forward Term
Target
F10:53	5227	D05226	REAL	%MD10.53	REAL	Target Position
F10:54	5229	D05228	REAL	%MD10.54	REAL	Target Velocity
F10:55	5231	D05230	REAL	%MD10.55	REAL	Target Acceleration
F10:56	5233	D05232	REAL	%MD10.56	REAL	Command Position
F10:57	5235	D05234	REAL	%MD10.57	REAL	Command Velocity
F10:58	5237	D05236	REAL	%MD10.58	REAL	Target Jerk
F10:59	5239	D05238	REAL	%MD10.59	DINT	Cycles
F10:60	5241	D05240	REAL	%MD10.60	REAL	Target Pressure/Force
F10:61	5243	D05242	REAL	%MD10.61	REAL	Command Pressure/Force
F10:62	5245	D05444	REAL	%MD10.62	DINT	Cycles (Pressure/Force)
Custom Feedback
F10:64	5249 + b	D05448 + b	DWORD	%MD10.64	DWORD	Custom Error Bits
F10:65	5251 + b	D05450 + b	REAL	%MD10.65	REAL	Primary Custom Counts
F10:66	5253 + b	D05452 + b	REAL	%MD10.66	REAL	Secondary Custom Counts

Axis 3

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
F11:0	5633	D05632	DWORD	%MD11.0	DWORD	Status Bits
F11:1	5635	D05634	DWORD	%MD11.1	DWORD	Error Bits
F11:2	5637	D05636	REAL	%MD11.2	DINT	Last Error Number
F11:4	5641	D05640	REAL	%MD11.4	REAL	Read Response
Position/Velocity Control
F11:6	5645	D05644	REAL	%MD11.6	DINT	Current Control Mode
F11:7	5647	D05646	REAL	%MD11.7	DINT	Next Pos/Vel Control Mode
Primary Input: Position/Velocity Axes
F11:8	5649	D05648	REAL	%MD11.8	REAL	Actual Position
F11:9	5651	D05650	REAL	%MD11.9	REAL	Actual Velocity
F11:10	5653	D05652	REAL	%MD11.10	REAL	Actual Acceleration
F11:11	5655	D05654	REAL	%MD11.11	REAL	Counts/Current/Voltage
F11:12	5657	D05656	DINT	%MD11.12	DINT	Raw Counts
Primary Input: Single-Input Pressure, Force, or Acceleration Axes
F11:8	5649	D05648	REAL	%MD11.8	REAL	Actual Pressure/Force, Actual Acceleration
F11:9	5651	D05650	REAL	%MD11.9	REAL	Actual Pressure/Force Rate, Actual Jerk
F11:11	5655	D05654	REAL	%MD11.11	REAL	Current/Voltage
F11:12	5657	D05656	DINT	%MD11.12	DINT	Raw Counts
Primary Input: Dual-Input Force or Acceleration Axes
F11:8	5649	D05648	REAL	%MD11.8	REAL	Actual Differential Force, Actual Acceleration
F11:9	5651	D05650	REAL	%MD11.9	REAL	Actual Differential Force Rate, Actual Jerk
F11:10	5653	D05652	REAL	%MD11.10	REAL	Actual Force A, Channel A Acceleration
F11:11	5655	D05654	REAL	%MD11.11	REAL	Voltage A/Current A
F11:12	5657	D05656	DINT	%MD11.12	DINT	Raw Counts A
F11:13	5659	D05658	REAL	%MD11.13	REAL	Actual Force B, Channel B Acceleration
F11:14	5661	D05660	REAL	%MD11.14	REAL	Voltage B/Current B
F11:15	5663	D05662	DINT	%MD11.15	DINT	Raw Counts B
Home/Registration: Quadrature Axes
F11:18	5669	D05668	DWORD	%MD11.18	DWORD	Home/Registration Bits
F11:19	5671	D05670	REAL	%MD11.19	REAL	Registration 0 Position
F11:20	5673	D05672	REAL	%MD11.20	REAL	Registration 1 Position
Secondary Input: Single-Input Pressure, Force, or Acceleration Axes
F11:23	5679	D05678	REAL	%MD11.23	REAL	Actual Pressure/Force, Actual Acceleration
F11:24	5681	D05680	REAL	%MD11.24	REAL	Actual Pressure/Force Rate, Actual Jerk
F11:26	5685	D05684	REAL	%MD11.26	REAL	Current/Voltage
F11:27	5687	D05686	DINT	%MD11.27	DINT	Raw Counts
Secondary Input: Dual-Input Force or Acceleration Axes
F11:23	5679	D05678	REAL	%MD11.23	REAL	Actual Differential Force, Actual Acceleration
F11:24	5681	D05680	REAL	%MD11.24	REAL	Actual Differential Force Rate, Actual Jerk
F11:25	5683	D05682	REAL	%MD11.25	REAL	Actual Force A, Channel A Acceleration
F11:26	5685	D05684	REAL	%MD11.26	REAL	Voltage A/Current A
F11:27	5687	D05686	DINT	%MD11.27	DINT	Raw Counts A
F11:28	5689	D05688	REAL	%MD11.28	REAL	Actual Force B, Channel B Acceleration
F11:29	5691	D05690	REAL	%MD11.29	REAL	Voltage B/Current B
F11:30	5693	D05692	DINT	%MD11.30	DINT	Raw Counts B
Output: Analog Control Output Axes
F11:33	5699	D05698	REAL	%MD11.33	REAL	Control Output
Primary Control: Position/Velocity Axes
F11:35	5703	D05702	REAL	%MD11.35	REAL	Position Error
F11:36	5705	D05704	REAL	%MD11.36	REAL	Velocity Error
F11:37	5707	D05706	REAL	%MD11.37	REAL	Proportional Term
F11:38	5709	D05708	REAL	%MD11.38	REAL	Integral Term
F11:39	5711	D05710	REAL	%MD11.39	REAL	Differential Term
F11:40	5713	D05712	REAL	%MD11.40	REAL	Double Differential Output Term
F11:41	5715	D05714	REAL	%MD11.41	REAL	Velocity Feed Forward Term
F11:42	5717	D05716	REAL	%MD11.42	REAL	Acceleration Feed Forward Term
F11:43	5719	D05718	REAL	%MD11.43	REAL	Jerk Feed Forward Term
F11:44	5721	D05720	REAL	%MD11.44	REAL	Triple Differential Output Term
F11:45	5723	D05722	REAL	%MD11.45	REAL	PFID Output
F11:47	5727	D05726	REAL	%MD11.47	DINT	Current Integrator Mode
Primary Control: Pressure or Force Axes
F11:35	5703	D05702	REAL	%MD11.35	REAL	Pressure/Force Error
F11:37	5707	D05706	REAL	%MD11.37	REAL	Pressure/Force Proportional Term
F11:38	5709	D05708	REAL	%MD11.38	REAL	Pressure/Force Integral Term
F11:39	5711	D05710	REAL	%MD11.39	REAL	Pressure/Force Differential Term
F11:40	5713	D05712	REAL	%MD11.40	REAL	Pressure/Force Feed Forward Term
F11:41	5715	D05714	REAL	%MD11.41	REAL	Pressure/Force Rate Feed Forward Term
F11:45	5723	D05722	REAL	%MD11.45	REAL	PFID Output
F11:47	5727	D05726	REAL	%MD11.47	DINT	Current Integrator Mode
Secondary Control: Pressure or Force Axes
F11:46	5725	D05724	REAL	%MD11.46	REAL	Pressure/Force Error
F11:48	5729	D05728	REAL	%MD11.48	REAL	Pressure/Force Proportional Term
F11:49	5731	D05730	REAL	%MD11.49	REAL	Pressure/Force Integral Term
F11:50	5733	D05732	REAL	%MD11.50	REAL	Pressure/Force Differential Term
F11:51	5735	D05734	REAL	%MD11.51	REAL	Pressure/Force Feed Forward Term
F11:52	5737	D05736	REAL	%MD11.52	REAL	Pressure/Force Rate Feed Forward Term
Target
F11:53	5739	D05738	REAL	%MD11.53	REAL	Target Position
F11:54	5741	D05740	REAL	%MD11.54	REAL	Target Velocity
F11:55	5743	D05742	REAL	%MD11.55	REAL	Target Acceleration
F11:56	5745	D05744	REAL	%MD11.56	REAL	Command Position
F11:57	5747	D05746	REAL	%MD11.57	REAL	Command Velocity
F11:58	5749	D05748	REAL	%MD11.58	REAL	Target Jerk
F11:59	5751	D05750	REAL	%MD11.59	DINT	Cycles
F11:60	5753	D05752	REAL	%MD11.60	REAL	Target Pressure/Force
F11:61	5755	D05754	REAL	%MD11.61	REAL	Command Pressure/Force
F11:62	5757	D05756	REAL	%MD11.62	DINT	Cycles (Pressure/Force)
Custom Feedback
F11:64	5761 + b	D05760 + b	DWORD	%MD11.64	DWORD	Custom Error Bits
F11:65	5763 + b	D05762 + b	REAL	%MD11.65	REAL	Primary Custom Counts
F11:66	5765 + b	D05764 + b	REAL	%MD11.66	REAL	Secondary Custom Counts