User Manual

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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