User Manual

9 Register Reference
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
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
Secondary Control: Pressure or Force Axes
Ff:44
4185 + b
D4184 +
b
REAL
%MDf.44
REAL
Pressure/Force Error
Ff:46
4189 + b
D4188 +
b
REAL
%MDf.46
REAL
Pressure/Force Proportional
Term
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