User Manual

RMC70/150 and RMCTools User Manual
9.2.2.4.21. Default Pos/Vel Control Mode
Type:
Axis Parameter Register
RMC70 Address:
%MDn.43, where n = 12 + the axis number
RMC150 Address:
%MDn.43, where n = 24 + the axis number
System Tag:
_Axis[n].DefPVCtrlMode, where n is the axis number
How to Find:
Axes Parameters Pane, All tab: Position/Velocity Control
Data Type:
DINT
Range:
Pos PID (0), Pos I-PD (1), Vel PID (4), Vel I-PD (5)
Default Value:
Pos PID (0) for Position Control Axes
Vel PID (4) for Velocity Control Axes
Description
The Default Pos/Vel Control Mode parameter determines which control mode the Next
Pos/Vel Control Mode for that axis will be set to when the RMC powers up. The Next
Pos/Vel Control Mode register determines which control mode will be applied to the next
position or velocity motion command that is issued. Use the Set Pos/Vel Ctrl Mode (68)
command to change the Next Pos/Vel Control Mode register during machine control
without affecting the power-up mode.
Values
Control Mode
0
Pos PID
1
Pos I-PD
4
Vel PID
5
Vel I-PD
9.2.2.4.22. Primary Control Configuration Register
Type:
Axis Parameter Register
RMC70 Address:
%MDn.60, where n = 12 + the axis number
RMC150 Address:
%MDn.60, where n = 24 + the axis number
System Tag:
_Axis[n].PriControlBits, where n is the axis number
How to Find:
See individual parameters below
Data Type:
DWORD - see below
Description
The Control Configuration register contains the bit-addressable Control configuration
parameters. This topic lists the bit address for each parameter. Each parameter is
accessible in RMCTools via the Axis Parameter Editor
. For details on each parameter, see
the respective links.
Bits
This register contains the following parameters. The bits for each are given in the right-
hand column.
972 Delta Computer Systems, Inc.