RHINO RMCS –2303 Operating Manual page 28

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MSB of Position Command (MSB_POS)
Address: 0x12 (40019)
Reset value: 0x0000
Bits 15:0 MSB_POS [15:0]: MSB of Position Command
Motor will move only when register 18 is updated.
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LSB of Position Feedback (LSB _POS_FB)
Address: 0x14 (40021)
Reset value: 0x0000
Bits 15:0 LSB_POS [15:0]: LSB of Position Feedback
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MSB of Position Feedback (MSB _POS_FB)
Address: 0x16 (40023)
Reset value: 0x0000
Bits 15:0 MSB_POS [15:0]: MSB of Position Feedback
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Speed Feedback (SPD_FB)
Address: 0x18 (40025)
Reset value: 0x0000
Bits 15:0 SPD_FB [15:0]: Speed Feedback of base motor in RPM
Read Current Speed of the motor in RPM. If gearbox is attached then output RPM will be different.
MSB _POS[15:0]
Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
LSB _POS_FB[15:0]
Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
MSB _POS_FB[15:0]
Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
SPD_FB[15:0]
Default: 0x0000
Maximum value: 0xFFFF
Minimum value: 0x0000
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