RMCLink Component

RMCLink Address Map for the RMC150

When using RMCLink, the addresses of the registers in the RMC150 are specified with a File number and an Element number. Use this address map to find the correct File and Element values for the data items in the RMC150. Notice that the file and element used by RMCLink for the RMC150 are the same as the addressing convention used by RMCTools. 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 RMCTools help for details on how to use the various registers in the RMC150.

 

File

File Constant

Description

7

fn150ControllerInfo

Basic controller read-only information

8-23

fn150StatusAxis0,

fn150StatusAxis1, etc.

ClosedAxis 0-15 Status Registers

Each file 8-23 represents one axis. File 8 is Axis 0, file 9 is Axis 1, etc.

Element

Register Name

Registers 0 - 4: Common

 

All Axes

 

 

 

0

Status Bits

 

 

 

1

Error Bits

 

 

 

2

Last Error Number

 

 

 

4

Read Response

 

 

 

 

Registers 8 - 15: Primary Input

 

 

Position Axes

Velocity Axes

Single Input Pressure/Force Axes

Dual Input Force Axes

8

Actual Position

 

Actual Pressure/Force

Actual Differential Force

9

Actual Velocity

Actual Velocity

Actual Pressure/Force Rate

Actual Differential Force Rate

10

Actual Acceleration

Actual Acceleration

 

Actual Force A

11

Counts/Voltage

Voltage

Voltage

Voltage A

12

Raw Counts

Raw Counts

Raw Counts

Raw Counts A

13

 

 

 

Actual Force B

14

 

 

 

Voltage B

15

 

 

 

Raw Counts B

 

Registers 18 - 20: Home/Latch

 

Quadrature Axes

 

 

 

18

H/L Status Bits

 

 

 

19

Latched Position 0

 

 

 

20

Latched Position 1

 

 

 

 

Registers 23 - 30: Secondary Input

 

Single Input Pressure/Force Axes

Dual Input Force Axes

 

 

23

Actual Pressure/Force

Actual Differential Force

 

 

24

Actual Pressure/Force Rate

Actual Differential Force Rate

 

 

25

 

Actual Force A

 

 

26

Voltage

Voltage A

 

 

27

Raw Counts

Raw Counts A

 

 

28

 

Actual Force B

 

 

29

 

Voltage B

 

 

30

 

Raw Counts B

 

 

 

Register 33: Output

 

Analog Axes

 

 

 

33

Control Output

 

 

 

 

Registers 35-43: Primary Control

 

Position Axes

Velocity Axes

Single Input Pressure/Force Axes

 

35

Position Error

 

Pressure/Force Error

 

36

Velocity Error

Velocity Error

 

 

37

Proportional Term

Velocity Integral term

Pressure/Force Proportional Term

 

38

Integral Term

 

Pressure/Force Integral Term

 

39

Differential Term

Velocity Proportional Term

Pressure/Force Differential Term

 

40

 

 

Pressure/Force Feed Forward Term

 

41

Velocity Feed Forward Term

Velocity Feed Forward Term

Pressure/Force Rate Feed Forward Term

 

42

Acceleration Feed Forward Term

Acceleration Feed Forward Term

 

 

43

PFID Output

PFID Output

PFID Output

 

 

Registers 44-50: Secondary Control

 

Servo Pressure/Force Axes

 

 

 

44

Pressure/Force Error

 

 

 

45

Reserved

 

 

 

46

Pressure/Force Proportional Term

 

 

 

47

Reserved

 

 

 

48

Pressure/Force Differential Term

 

 

 

49

Pressure/Force Feed Forward Term

 

 

 

50

Pressure/Force Rate Feed Forward Term

 

 

 

 

Registers 53-57: Primary Target

 

Position Axes

 

 

 

53

Target Position

 

 

 

54

Target Velocity

 

 

 

55

Target Acceleration

 

 

 

56

Command Position

 

 

 

57

Command Velocity

 

 

 

 

Registers 60-61: Secondary Target

 

Pressure/Force Axes

 

 

 

60

Target Pressure/Force

 

 

 

61

Command Pressure/Force

 

 

 

 

24-39

fn150ParameterAxis0,

fn150ParameterAxis1, etc.

ClosedAxis 0-15 Parameter Registers

Each file 24-39 represents one axis. File 24 is Axis 0, file 25 is Axis 1, etc.

Element

Register Name

Registers 0 - 13: Primary Feedback

 

Position Axes

Velocity Axes

Single-Input Pressure/Force Axes

Dual-Input Force Axes

0

Position Scale

Position Scale

Pressure/Force Scale

Force A Scale

1

Position Offset

Velocity Offset

Pressure/Force Offset

Force A Offset

2

Actual Position Filter

Velocity Deadband

 

 

Force B Scale

3

Actual Velocity Filter

Actual Velocity Filter

 

Force B Offset

4

Actual Acceleration Filter

Actual Acceleration Filter

Actual Pressure/Force Filter

Actual Pressure/Force Filter

5

Stop Threshold

Stop Threshold

Actual Pressure/Force Rate Filter

Actual Pressure/Force Rate Filter

6

Noise Error Rate

Noise Error Rate

Noise Error Rate

Noise Error Rate

9

 

 

 

 

Bit 0:

Linear/Rotary

Linear/Rotary

Linear/Rotary

Linear/Rotary

Bit 1:

Absolute/Incremental

Absolute/Incremental

Absolute/Incremental

Absolute/Incremental

 

 

 

 

 

 

MDT/SSI Transducer

Analog Transducer

 

 

10

Bits 0-2: MDT Type
Bit 8: MDT/SSI
Bit 9: SSI Format (Binary/Gray)

Bits 10-11: SSI Clock Rate

Bits 12-17: SSI Data Bits

Bits 0-2: Input Range

 

 

11

Count Offset

 

 

 

12

Position Unwind

 

 

 

 

Registers 18-28: Secondary Feedback

 

Single Input Pressure/Force Axes

Dual Input Force Axes

 

 

18

Pressure/Force Scale

Force A Scale

 

 

19

Pressure/Force Offset

Force A Offset

 

 

20

 

Force B Scale

 

 

21

 

Force B Offset

 

 

22

Actual Pressure/Force Filter

Actual Pressure/Force Filter

 

 

23

Actual Pressure/Force Rate Filter

Actual Pressure/Force Rate Filter

 

 

24

Noise Error Rate

Noise Error Rate

 

 

27

 

 

 

 

Bit 0:

Linear/Rotary

Linear/Rotary

 

 

Bit 1:

Absolute/Incremental

Absolute/Incremental

 

 

 

Analog Transducer

 

 

 

28

Bits 0-2: Input Range

 

 

 

 

Registers 32-34: Output

 

Analog

 

 

 

32

Output Limit

 

 

 

33

Output Bias

 

 

 

34

 

 

 

 

 

Bit 0: Invert Output Polarity

 

 

 

 

Bit 1: Reserved

 

 

 

 

Bit 2: Enable Output Behavior

 

 

 

 

Bit 3: Fault Input Polarity

 

 

 

 

Bit 4: Limits Polarity

 

 

 

 

Registers 38-42: Final Output Stage

 

Servo

 

 

 

38

Output Scale

 

 

 

39

Output Filter

 

 

 

40

Directional Gain Ratio

 

 

 

41

Deadband Tolerance

 

 

 

42

Output Deadband

 

 

 

 

Registers 56-67: Primary Control

 

Servo Position Axes

Servo Velocity Axes

Servo Pressure/Force Axes

 

56

In Position Tolerance

 

At Pressure/Force Tolerance

 

57

Position Error Tolerance

 

Pressure/Force Error Tolerance

 

58

At Velocity Tolerance

At Velocity Tolerance

 

 

59

Velocity Error Tolerance

Velocity Error Tolerance

 

 

60

 

 

 

 

Bits 0-3:

Integrator Mode

Integrator Mode

Integrator Mode

 

61

Position Proportional Gain

Velocity Integral Gain

 

Pressure/Force Proportional Gain

 

62

Position Integral Gain

 

Pressure/Force Integral Gain

 

63

Position Differential Gain

Velocity Proportional Gain

Pressure/Force Differential Gain

 

64

 

 

Pressure/Force Feed Forward

 

65

Velocity Feed Forward

Velocity Feed Forward

Pressure/Force Rate Feed Forward

 

66

Acceleration Feed Forward

Acceleration Feed Forward

 

 

67

Integrator Limit

Integrator Limit

Pressure/Force Integrator Limit

 

 

Registers 76-85: Secondary Control

 

Servo Pressure/Force

 

 

 

76

At Pressure/Force Tolerance

 

 

 

77

Pressure/Force Error Tolerance

 

 

 

80

 

 

 

 

Bits 5-6:

Pressure/Force Orientation

 

 

 

81

Pressure/Force Proportional Gain

 

 

 

82

Pressure/Force Integral Gain

 

 

 

83

Pressure/Force Differential Gain

 

 

 

84

Pressure/Force Feed Forward

 

 

 

85

Pressure/Force Rate Feed Forward

 

 

 

 

Registers 92-93: Position Target

 

Position

 

 

 

92

Positive Travel Limit

 

 

 

93

Negative Travel Limit

 

 

 

 

Registers 100-101: Pressure/Force Target

 

Position

 

 

 

100

Positive Pressure/Force Limit

 

 

 

101

Negative Pressure/Force Limit

 

 

 

 

Registers 106-113: Halts

 

All Axes

 

 

 

106/0-2

Bits 0-2:
Auto Stop Following Error

 

 

 

106/3-5

Bits 3-5:
Reserved

 

 

 

106/6-8

Bits 6-8:
Auto Stop Output Saturated

 

 

 

106/9-11

Bits 9-11:
Auto Stop Fault Input

 

 

 

106/12-14

Bits 12-14:
Auto Stop Positive Limit Input

 

 

 

106/15-17

Bits 15-17:
Auto Stop Negative Limit Input

 

 

 

106/18-20

Bits 18-20:
Auto Stop No Transducer

 

 

 

106/21-23

Bits 21-23:
Auto Stop Transducer Overflow

 

 

 

107/0-2

Bits 0-2:
Auto Stop Noise Error

 

 

 

107/3-5

Bits 3-5:
Auto Stop Positive Overtravel

 

 

 

107/6-8

Bits 6-8:
Auto Stop Negative Overtravel

 

 

 

107/9-11

Bits 9-11:
Auto Stop Command Error

 

 

 

107/12-14

Bits 12-14:
Auto Stop Command Modified

 

 

 

107/15-17

Bits 15-17:
Auto Stop Configuration Error

 

 

 

107/18-20

Bits 18-20:
Auto Stop Runtime Error

 

 

 

108/6-8

Bits 6-8:
Auto Stop No Transducer (Secondary)

 

 

 

108/9-11

Bits 9-11:
Auto Stop Transducer Overflow (Secondary)

 

 

 

108/12-14

Bits 12-14:
Auto Stop Noise Error (Secondary)

 

 

 

108/15-17

Bits 15-17:
Auto Stop Following Error (Secondary)

 

 

 

110

Closed Loop Halt Deceleration

 

 

 

111

Open Loop Halt Ramp

 

 

 

112

Halt Group Number

 

 

 

 

Registers 116-119: Simulation

 

All Axes

 

 

 

116

Bit 0: Simulate Mode

 

 

 

117

System Gain (Simulate Mode)

 

 

 

118

Natural Frequency (Simulate Mode)

 

 

 

119

Damping Factor (Simulate Mode)

 

 

 

 

40

fn150CommandArea

ClosedCommand Area

Element

Register Name

0-9

Axis 0 Command Registers

0

Axis 0 Command

1

Axis 0 Parameter 1

2

Axis 0 Parameter 2

3

Axis 0 Parameter 3

4

Axis 0 Parameter 4

5

Axis 0 Parameter 5

6

Axis 0 Parameter 6

7

Axis 0 Parameter 7

8

Axis 0 Parameter 8

9

Axis 0 Parameter 9

10-19

Axis 1 Command Registers

20-29

Axis 2 Command Registers

30-39

Axis 3 Command Registers

40-49

Axis 4 Command Registers

50-59

Axis 5 Command Registers

60-69

Axis 6 Command Registers

70-79

Axis 7 Command Registers

80-89

Axis 8 Command Registers

90-99

Axis 9 Command Registers

100-109

Axis 10 Command Registers

110-119

Axis 11 Command Registers

120-129

Axis 12 Command Registers

130-139

Axis 13 Command Registers

140-149

Axis 14 Command Registers

150-159

Axis 15 Command Registers

41

fn150IndDataMap

ClosedIndirect Data Map

Element

Register Name

0-127

Indirect Data Map

 

Note:
The Indirect Data Map (file 41) contains the addresses of the referenced registers, not the data. Do not read or write to these registers when accessing the Indirect Data values via a PLC. See the Indirect Data registers (file 18, elements 0-31).

 

42

fn150IndDataValues

ClosedIndirect Data

Element

Register Name

0-127

Indirect Data Values

 

 

Note:
These registers (file 42) are the registers that should be accessed at runtime by a PLC when reading or writing the Indirect Data.

 

43

fn150AxisAssign

Axis Assignment

44

fn150ControllerRegs

ClosedController Parameters/Status

Element

Register Name

Notes

0

Loop Time, Set

Read-Only

1

Loop Time, Requested

Do not use this register!

2

Loop Time, Length of Last Used

Read-Only

3

Loop Time, Length of Maximum Used

R/W, but can only be set to 0.

4

Number of Tasks Allocated (0-10, default = 2)

default = 2

5

PreScan Table Enabled? (0=false, 1= true)

default = 1

6

Stop All Tasks on Any Axis Halt? (0=false, 1= true)

default = 1

7

Controller Status Register

Bit 0: RUN/PROGRAM (0=PROGRAM, 1= RUN)

Bit 1: Controller Enabled

Bit 2: First Scan

 

8

Startup Mode (0=PROGRAM(default), 1-RUN)

 

9

RUN/PROGRAM Input (0 = None, 1 = %IX1.0, 2 = %IX1.1)

 

10-31

Reserved

 

 

45

fn150CommConfig

ClosedCommunication Configuration

Element

Description

Notes

0-7

Reserved

 

8

MAC Address (bytes 0-3, big Endian) (for 00-50-A0-B1-23-45, this would be 0x0050A0B1)

Read-Only

9

MAC Address (bytes 4-5, big Endian in upper 16 bits)  (for 00-50-A0-B1-23-45, this would be 0x23450000)

Read-Only

10

Ethernet Status Bits:

Bit 0: Link Established

Bit 1: 1=100Mbps, 0=10Mbps

Bit 2: 1=FDX, 0=HDX

Bit 4-7:Current IP Address State

0=Static Method, but an unusable address is assigned (e.g. 0x00000000)

1=IP Address assigned and in use

2=IP Address assigned, but disabled due to duplicate detected

3=IP Address assigned, but still doing Address Collision Detection

4=BOOTP: Still querying, no address yet assigned

5=DHCP: Still querying, no address yet assigned

Read-Only

11

Ethernet Configuration Bits:

Bit 0: 0=Use Auto-Negotiation, 1=Disable Auto-Negotiation (use bits 1 and 2)

Bit 1: If AN disabled, 0=10Mbps, 1=100Mbps

Bit 2: If AN disabled, 0=HDX, 1=FDX

Bit 3-4: IP Address Assignment Mode

0=Statically Assigned

1=BOOTP

2=DHCP

 

12

IP Address

 

13

Subnet Mask (0=use standard network masks)

 

14

Default Gateway (0=none)

 

15

DHCP (or BOOTP) server IP Address

 

16

DHCP Lease Start (seconds since powerup)

 

17

DHCP Lease End (seconds since powerup)

 

 

 

47

fn150DiscreteIO

ClosedDiscrete I/O

n = RMC slot number (0-5)

Element

Register Name

0+n

Outputs for slot n

6+n

Inputs for slot n

12+n

Output to Off in PROGRAM mode for slot n

18+n

Output to On in PROGRAM mode for slot n

24+n

Output to Off in FAULT mode for slot n

30+n

Output to On in FAULT mode for slot n

36+n

Forced Off for Outputs in slot n

42+n

Forced On for Outputs in slot n

48+n

Forced Off for Inputs in slot n

54+n

Forced On for Inputs in slot n

 

Note:
All the registers in file 23 are of the DWORD data type.

48

fn150TaskStatus

ClosedTask Status/Configuration

Element

Register Name

0 - 15

Task 0 Status

0

State

Bit 0: Running?

Bit 1: Allocated?

1

Current Step

Bits 0-11: Step Number

Bits 12-23: Program Number

2

Current Axis (0..3)

3-15

Reserved

16-31

Task 1 Status (same as Task 0 Status)

32-47

Task 2 Status (same as Task 0 Status)

48-63

Task 3 Status (same as Task 0 Status)

49

fn150AxisNames

Axis Names

56-59

fn150VarCurValues

ClosedVariables - Current Values

Element

Register Name

0-1023

Variables 0 to 1023 - Current Values

 

72-75

fn150VarInitValues

ClosedVariables - Initial Values

Element

Register Name

0-1023

Variables 0 to 1023 - Initial Values

 

88

fn150VarAttributes

Variables - Attributes

94

fn150ImageArea

Image Area

95

fn150PlotSchema

ClosedPlot Layout

Element

Access

Data Type

Register Description

0

Read/Write

UDINT

Current Plot Layout

Bits 0-7: Plots (1-8)

Bits 8-15: Sample Sets per Plot (1-16)

Bits 16-23: Reserved

1

Read Only

UDINT

Maximum Plots (8)

2

Read Only

UDINT

Maximum Samples (16)

3

Read Only

UDINT

Maximum Samples at Once (128)

4

Read Only

UDINT

Maximum Elements (12,582,912)

5

-

UDINT

Reserved

6

-

UDINT

Reserved

7

-

UDINT

Reserved

 

96

fn150Plot0CfgSts

ClosedPlot 0 Configuration

Element

Access

Data Type

Register Description

0

do not access directly

UDINT

Plot 0 Flags (should not be accessed directly)

Bit 0: Reserved

Bit 1: Trigger (WO)

Bit 2: Re-arm (WO)

Bit 3: Read Active (RO)

1

Read/Write

UDINT

Plot 0 Samples (e.g. 1000)

2

Read/Write

REAL

Plot 0 Samples Period (seconds)

3

Read/Write

DINT

Plot 0 Axis Owner (0-3, -1 = none)

4

Read/Write

DINT

Plot 0 Trigger Position (%, 0-100, -1 = auto re-arm)

5

Read/Write

UDINT

Plot 0 Trigger Type

Bits 0-7: Type (0=none, 1=motion command)

Bits 8-23: Depends on trigger type

Motion Commands:

Bits 8-11: Axis 0-3 Bits, if all zero, then use Axis Owner

Bits 12-23:  Reaserved

6

-

-

Reserved

7

-

-

Reserved

8

Read Only

REAL

Plot 0 ID

9

Read Only

REAL

Plot 0 State (0 = not triggered, 1 = capturing, 2 = complete)

10

Read Only

REAL

Plot 0 Captured Samples (relative to sample 0), state > 0

11

Read Only

REAL

Plot 0 Sample Time (control loops), state > 0

12

Read Only

REAL

Plot 0 Trigger Time (control loops), state > 0

13

Read Only

REAL

Plot 0 Trigger Sample (relative to sample 0)

12-15

-

-

Reserved

16-31

 

 

Addresses of Plot Data Sets 0-15

Bits 0-11: Element

Bits 12-23: File

 

97

fn150Plot1CfgSts

Plot 1 Configuration - Identical to file 96

98

fn150Plot2CfgSts

Plot 2 Configuration - Identical to file 96

99

fn150Plot3CfgSts

Plot 3 Configuration - Identical to file 96

100

fn150Plot4CfgSts

Plot 4 Configuration - Identical to file 96

101

fn150Plot5CfgSts

Plot 5 Configuration - Identical to file 96

102

fn150Plot6CfgSts

Plot 6 Configuration - Identical to file 96

103

fn150Plot7CfgSts

Plot 7 Configuration - Identical to file 96

104

fn150Plot0DynUA

ClosedPlot 0 Dynamic Plot Upload Area

Element

Access

Data Type

Register Description

0

Read/Write

UDINT

Plot 0 Flags (should not be accessed directly)

Bits 0-3: Upload Mode

1 = triggered

2 = continuous

3 = continuous, always newest

Bits 4-7: Upload Status (Read Only)

0 = normal

1 = plot state mismatches upload mode

2 = data overran (mode 2 only)

1

Read/Write

UDINT

Requested Read Samples

2

Read/Write

UDINT

Current Index

3

Read Only

UDINT

Plot ID

4

Read Only

UDINT

Samples Uploaded

5-255

Read Only

*

Plot Data

 

105

fn150Plot1DynUA

Plot 1 Dynamic Plot Upload Area - Identical to file 104

106

fn150Plot2DynUA

Plot 2 Dynamic Plot Upload Area - Identical to file 104

107

fn150Plot3DynUA

Plot 3 Dynamic Plot Upload Area - Identical to file 104

108

fn150Plot4DynUA

Plot 4 Dynamic Plot Upload Area - Identical to file 104

109

fn150Plot5DynUA

Plot 5 Dynamic Plot Upload Area - Identical to file 104

110

fn150Plot6DynUA

Plot 6 Dynamic Plot Upload Area - Identical to file 104

111

fn150Plot7DynUA

Plot 7 Dynamic Plot Upload Area - Identical to file 104

112-

143

fn150Plot0StaticUA,
fn150Plot1StaticUA, etc.

ClosedStatic Plot Upload Area - Plots 0-7, Sample Sets 0-3

File

Elements

Description

112

0-4095

Plot 0, Sample Set 0, Samples 0-4095

113

0-4095

Plot 0, Sample Set 1, Samples 0-4095

114

0-4095

Plot 0, Sample Set 2, Samples 0-4095

115

0-4095

Plot 0, Sample Set 3, Samples 0-4095

116

0-4095

Plot 1, Sample Set 0, Samples 0-4095

117

0-4095

Plot 1, Sample Set 1, Samples 0-4095

118

0-4095

Plot 1, Sample Set 2, Samples 0-4095

119

0-4095

Plot 1, Sample Set 3, Samples 0-4095

120

0-4095

Plot 2, Sample Set 0, Samples 0-4095

121

0-4095

Plot 2, Sample Set 1, Samples 0-4095

122

0-4095

Plot 2, Sample Set 2, Samples 0-4095

123

0-4095

Plot 2, Sample Set 3, Samples 0-4095

124

0-4095

Plot 3, Sample Set 0, Samples 0-4095

125

0-4095

Plot 3, Sample Set 1, Samples 0-4095

126

0-4095

Plot 3, Sample Set 2, Samples 0-4095

127

0-4095

Plot 3, Sample Set 3, Samples 0-4095

128

0-4095

Plot 4, Sample Set 0, Samples 0-4095

129

0-4095

Plot 4, Sample Set 1, Samples 0-4095

130

0-4095

Plot 4, Sample Set 2, Samples 0-4095

131

0-4095

Plot 4, Sample Set 3, Samples 0-4095

132

0-4095

Plot 5, Sample Set 0, Samples 0-4095

133

0-4095

Plot 5, Sample Set 1, Samples 0-4095

134

0-4095

Plot 5, Sample Set 2, Samples 0-4095

135

0-4095

Plot 5, Sample Set 3, Samples 0-4095

136

0-4095

Plot 6, Sample Set 0, Samples 0-4095

137

0-4095

Plot 6, Sample Set 1, Samples 0-4095

138

0-4095

Plot 6, Sample Set 2, Samples 0-4095

139

0-4095

Plot 6, Sample Set 3, Samples 0-4095

140

0-4095

Plot 7, Sample Set 0, Samples 0-4095

141

0-4095

Plot 7, Sample Set 1, Samples 0-4095

142

0-4095

Plot 7, Sample Set 2, Samples 0-4095

143

0-4095

Plot 7, Sample Set 3, Samples 0-4095

 

144

fn150Slot0Settings

Slot 0 Settings

145

fn150Slot1Settings

Slot 1 Settings

146

fn150Slot2Settings

Slot 2 Settings

147

fn150Slot3Settings

Slot 3 Settings

148

fn150Slot4Settings

Slot 4 Settings

149

fn150Slot5Settings

Slot 5 Settings

 

See Also

RMCLink Component | RMC70, RMC150, and RMC200 Register Data Types

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