RMCLink Component

RMCLink Address Map for the RMC100

When using RMCLink, the addresses of the registers in the RMC100 are specified with a File number and an Element number. Notice that the addressing convention used by RMCLink for the RMC100 is not the same as the addressing convention used by RMCWin.  Therefore, you must use this RMCLink address map to find the correct File, Element values for the data items in the RMC100 series motion controllers. For other RMCs, refer to the RMCLink Address Map topic.

In Visual Basic, Visual C++, and the .NET languages, the File Constants (in the help Contents, see the Enumeration Types book for the language you are using) can be used in the File parameter of the Read and Write methods to make the code more readable. The File Constants cannot be used in scripting or VBA.

Refer to the RMCWin help for details on how to use the various registers in the RMC100.

Notice that for the Status, Command, and Parameter registers, you can read the whole area in one read beginning with Axis 0. Make sure to set the read length to the number of registers you want. For example, to read the entire Status area for an 8-axis controller, read from file zero, element zero, with a length of 80.

 

File

File Constant

Description

0

fn100StatusAxis0

ClosedAxis 0 Status Registers

Element

Register Name

0

Command Position

1

Target Position

2

Actual Position

3

Transducer or Encoder Counts

4

Status Word

5

Drive

6

Actual Speed

7

Null Drive

8

Event Step

9

Link Value

Notice that reads from the status area can be longer than a length of 10 - the read will continue into the status for the next axis or axes.

1

fn100StatusAxis1

Axis 1 Status Registers - Identical to Axis 0

2

fn100StatusAxis2

Axis 2 Status Registers - Identical to Axis 0

3

fn100StatusAxis3

Axis 3 Status Registers - Identical to Axis 0

4

fn100StatusAxis4

Axis 4 Status Registers - Identical to Axis 0

5

fn100StatusAxis5

Axis 5 Status Registers - Identical to Axis 0

6

fn100StatusAxis6

Axis 6 Status Registers - Identical to Axis 0

7

fn100StatusAxis7

Axis 7 Status Registers - Identical to Axis 0

8

fn100CommandAxis0

ClosedAxis 0 Command Registers

Element

Register Name

0

Mode

1

Accel

2

Decel

3

Speed

4

Command Value

5

Command

Notice that writes to the command area can be longer than a length of 6 - the write will continue into the command for the next axis or axes.

9

fn100CommandAxis1

Axis 1 Command Registers - Identical to Axis 0

10

fn100CommandAxis2

Axis 2 Command Registers - Identical to Axis 0

11

fn100CommandAxis3

Axis 3 Command Registers - Identical to Axis 0

12

fn100CommandAxis4

Axis 4 Command Registers - Identical to Axis 0

13

fn100CommandAxis5

Axis 5 Command Registers - Identical to Axis 0

14

fn100CommandAxis6

Axis 6 Command Registers - Identical to Axis 0

15

fn100CommandAxis7

Axis 7 Command Registers - Identical to Axis 0

16

fn100ParameterAxis0

ClosedAxis 0 Parameter Registers

Element

Register Name

0

Configuration Word

1

Scale

2

Offset

3

Extend Limit

4

Retract Limit

5

Proportional Gain

6

Integral Gain

7

Differential Gain

8

Extend Feed Forward

9

Retract Feed Forward

10

Extend Acceleration Feed Forward

11

Retract Acceleration Feed Forward

12

Dead Band Eliminator

13

In Position Window

14

Following Error

15

Auto Stop

Notice that reads or writes to the parameter area can be longer than a length of 16 - the read/write will continue into the parameters for the next axis or axes.

17

fn100ParameterAxis1

Axis 1 Parameter Registers  - Identical to Axis 0

18

fn100ParameterAxis2

Axis 2 Parameter Registers  - Identical to Axis 0

19

fn100ParameterAxis3

Axis 3 Parameter Registers  - Identical to Axis 0

20

fn100ParameterAxis4

Axis 4 Parameter Registers  - Identical to Axis 0

21

fn100ParameterAxis5

Axis 5 Parameter Registers  - Identical to Axis 0

22

fn100ParameterAxis6

Axis 6 Parameter Registers  - Identical to Axis 0

23

fn100ParameterAxis7

Axis 7 Parameter Registers  - Identical to Axis 0

24

fn100StepTable

ClosedEvent Step Registers

Element

Register Name

0

Step 0 Mode Word

1

Step 0 Acceleration

2

Step 0 Deceleration

3

Step 0 Speed

4

Step 0 Command Value

5

Step 0 Command/Commanded Axes

The low byte of the low word holds the command; the high byte of the low word holds the Commanded Axes.

6

Step 0 Link Type/Link Next

The low byte of the low word holds the command; the high byte of the low word holds the Commanded Axes.

7

Step 0 Link Value

 

 

0 + n x 8

Step n Mode Word

1 + n x 8

Step n Acceleration

2 + n x 8

Step n Deceleration

3 + n x 8

Step n Speed

4 + n x 8

Step n Command Value

5 + n x 8

Step n Command/Commanded Axes

6 + n x 8

Step n Link Type/Link Next

7 + n x 8

Step n Link Value

25

fn100I2ERisingEdges

ClosedInput to Event Table Registers - Rising Edges

Element

Register Name

0

Event Step for Axis 0 on Input 0 Rising Edge

1

Event Step for Axis 1 on Input 0 Rising Edge

2

Event Step for Axis 2 on Input 0 Rising Edge

3

Event Step for Axis 3 on Input 0 Rising Edge

4

Event Step for Axis 4 on Input 0 Rising Edge

5

Event Step for Axis 5 on Input 0 Rising Edge

6

Event Step for Axis 6 on Input 0 Rising Edge

7

Event Step for Axis 7 on Input 0 Rising Edge

m x 8 + n

Event Step for Axis n (0-7) on Input m (0-15) Rising Edge

26

fn100I2EFallingEdges

ClosedInput to Event Table Registers - Falling Edges

Element

Register Name

0

Event Step for Axis 0 on Input 0 Falling Edge

1

Event Step for Axis 1 on Input 0 Falling Edge

2

Event Step for Axis 2 on Input 0 Falling Edge

3

Event Step for Axis 3 on Input 0 Falling Edge

4

Event Step for Axis 4 on Input 0 Falling Edge

5

Event Step for Axis 5 on Input 0 Falling Edge

6

Event Step for Axis 6 on Input 0 Falling Edge

7

Event Step for Axis 7 on Input 0 Falling Edge

m x 8 + n

Event Step for Axis n (0-7) on Input m (0-15) Falling Edge

27

fn100StatusMap

ClosedStatus Map Registers (Global Data Map)

Element

Register Name

0

Start of Status Map

31

End of Status Map

28

fn100ProfileTable

ClosedProfile Table Registers

Element

Register Name

0

Profile 0 Mode

1

Profile 0 Acceleration

2

Profile 0 Deceleration

3

Profile 0 Speed

n x 4 + 0

Profile nMode

n x 4 + 1

Profile n Acceleration

n x 4 + 2

Profile n Deceleration

n x 4 + 3

Profile n Speed

 

29

fn100PlotType

ClosedPlot Type Registers

Element

Register Name

0

Axis 0 Plot Type

1

Axis 1 Plot Type

2

Axis 2 Plot Type

3

Axis 3 Plot Type

4

Axis 4 Plot Type

5

Axis 5 Plot Type

6

Axis 6 Plot Type

7

Axis 7 Plot Type

30

fn100DIORegs

ClosedDiscrete I/O Registers

Element

Register Name

0

CPU Digital Inputs 0-1

1

CPU Digital Outputs 0-1

2

Communication DIO Inputs 0-17

3

Communication DIO Outputs 0-17

4

Sensor DIO Inputs 0-17

5

Sensor DIO Outputs 0-17

6-7

Reserved

31

fn100PlotTime

ClosedPlot Time Registers

Element

Register Name

0

Axis 0 Plot Time

1

Axis 1 Plot Time

2

Axis 2 Plot Time

3

Axis 3 Plot Time

4

Axis 4 Plot Time

5

Axis 5 Plot Time

6

Axis 6 Plot Time

7

Axis 7 Plot Time

32

fn100ParamError

ClosedLast Parameter Error Values

Element

Register Name

0

Axis 0 Last Parameter Error

1

Axis 1 Last Parameter Error

2

Axis 2 Last Parameter Error

3

Axis 3 Last Parameter Error

4

Axis 4 Last Parameter Error

5

Axis 5 Last Parameter Error

6

Axis 6 Last Parameter Error

7

Axis 7 Last Parameter Error

33

fn100FWRev

ClosedFirmware Dates

Element

Register Name

0

Boot Firmware Date Code (Month and Day)

1

Boot Firmware Date Code (Year)

2

Loader Firmware Date Code (Month and Day)

3

Loader Firmware Date Code (Year)

4

Control Firmware Date Code (Month and Day)

5

Control Firmware Date Code (Year)

6

Beta Code (0 for Standard, 'B' for Beta, 'SI' for Superimposed.

7

Feature Code

34

fn100SplineDA

ClosedSpline Download Area

Static Format with 2 Spline-Capable Axes

Element

Register

0

Axis 0 Interval Table Format

1-1023

Axis 0 Interval Table

1024

Axis 1 Interval Table Format

1025-2047

Axis 1 Interval Table

2048

Axis 0 Point Count

2049-3071

Axis 0 Point Table

3072

Axis 1 Point Count

3073-4095

Axis 1 Point Table

 

Static Format with 3 or 4 Spline-Capable Axes

Element

Register

0

Axis 0 Interval Table Format

1-511

Axis 0 Interval Table

512

Axis 1 Interval Table Format

513-1023

Axis 1 Interval Table

1024

Axis 2 Interval Table Format

1025-1535

Axis 2 Interval Table

1536

Axis 3 Interval Table Format

1537-2047

Axis 3 Interval Table

2048

Axis 0 Point Count

2049-2559

Axis 0 Point Table

2560

Axis 1 Point Count

2561-3071

Axis 1 Point Table

3072

Axis 2 Point Count

3073-3583

Axis 2 Point Table

3584

Axis 3 Point Count

3585-4095

Axis 3 Point Table

 

Static Format with 5 to 8 Spline-Capable Axes

Element

Register

0

Axis 0 Interval Table Format

1-255

Axis 0 Interval Table

256

Axis 1 Interval Table Format

257-511

Axis 1 Interval Table

512

Axis 2 Interval Table Format

513-767

Axis 2 Interval Table

768

Axis 3 Interval Table Format

769-1023

Axis 3 Interval Table

1024

Axis 4 Interval Table Format

1025-1279

Axis 4 Interval Table

1280

Axis 5 Interval Table Format

1281-1535

Axis 5 Interval Table

1536

Axis 6 Interval Table Format

1537-1791

Axis 6 Interval Table

1792

Axis 7 Interval Table Format

1793-2047

Axis 7 Interval Table

2048

Axis 0 Point Count

2049-2303

Axis 0 Point Table

2304

Axis 1 Point Count

2305-2559

Axis 1 Point Table

2560

Axis 2 Point Count

2561-2815

Axis 2 Point Table

2816

Axis 3 Point Count

2817-3071

Axis 3 Point Table

3072

Axis 4 Point Count

3073-3327

Axis 4 Point Table

3328

Axis 5 Point Count

3329-3583

Axis 5 Point Table

3584

Axis 6 Point Count

3585-3839

Axis 6 Point Table

3840

Axis 7 Point Count

3841-4095

Axis 7 Point Table

 

Dynamic Format

Refer to the Downloading Splines topic in the RMCWin help. In the Dynamic Format section, the Register # column corresponds to the Element number in RMCLink addressing.

208-255

 

ClosedPlot Data

File

Constant

Description

208

fn100PlotAxis0Set0

Target Position Samples 0 to 1023 on Axis 0

209

fn100PlotAxis0Set1

Actual Position Samples 0 to 1023 on Axis 0

210

fn100PlotAxis0Set2

Status Word Samples 0 to 1023 on Axis 0

211

fn100PlotAxis0Set3

Drive Output Samples 0 to 1023 on Axis 0

212

fn100PlotAxis0Set4

Extra Plot Information #1 Samples 0 to 1023 on Axis 0

213

fn100PlotAxis0Set5

Extra Plot Information #2 Samples 0 to 1023 on Axis 0

 

 

 

208 + 6 x n

fn100PlotAxisnSet0

Target Position Samples 0 to 1023 on Axis n

209 + 6 x n

fn100PlotAxisnSet1

Actual Position Samples 0 to 1023 on Axis n

210 + 6 x n

fn100PlotAxisnSet2

Status Word Samples 0 to 1023 on Axis n

211 + 6 x n

fn100PlotAxisnSet3

Drive Output Samples 0 to 1023 on Axis n

212 + 6 x n

fn100PlotAxisnSet4

Extra Plot Information #1 Samples 0 to 1023 on Axis n

213 + 6 x n

fn100PlotAxisnSet5

Extra Plot Information #2 Samples 0 to 1023 on Axis n

 

See Also

RMCLink Component | RMC100 Register Data Types

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