PFID Output

Type:	Axis Status Register
Address:	RMC75: %MDn.45, where n = 8 + the axis number RMC150: %MDn.45, where n = 8 + the axis number RMC200: %MDn.151, where n = 256 + the axis number
System Tag:	_Axis[n ].PFIDOutput, where n is the axis number
How to Find:	Axes Status Registers Pane, All tab: Control
Data Type:	REAL
Units:	% of maximum control output

Description

The PFID Output register is the sum of all control gains and feed forwards including proportional, integral, differential, and feed forward terms, plus any pressure/force limiting, acceleration control, or active damping contributions. In short, this register gives the intended control output percentage.

This value will be affected by the Output Scale, Feed Forward Ratio, Output Deadband, Output Limit, and Output Bias before generating an actual voltage on the Control Output. If the Invert Output Polarity parameter is set, the measured physical output voltage will be negative of what is displayed in this register.

RMC75/150 Output Diagram:

RMC200 Diagram: