RMC Commands

This is a complete list of the commands currently available on the RMC, grouped by type. Each command is represented by an integer number in floating point format. This number is given in parentheses. For general command information, see the Command topic.

Immediate Commands

Certain commands in the RMC are immediate commands. There is no limit to the number of immediate commands that can be issued to an axis per loop time, whereas a maximum of one non-immediate command per loop time can be issued to each axis. Immediate commands are usually not motion commands. The ability to issue multiple immediate commands in one loop time affects primarily the user programs, since it is difficult to issue many simultaneous commands via the external communications.

Command List

Command	Immediate	RMC75/150	RMC200	Closed Loop	Open Loop
General
No-op (0)
Clear Faults (4)
Enable Controller (7)
Fault Controller (8)
Set Enable Output (67)
Enable/Disable Axis (97)
RUN Mode (98)
PROGRAM Mode (99)
Motion - Stops
Stop (Closed Loop) (6)
Stop (Open Loop) (22)
Hold Current Position (5)
Closed Loop Halt (1)
Open Loop Halt (2)
Direct Output Halt (3)
Motion - Open Loop
Direct Output (9)
Open Loop Rate (10)
Open Loop Absolute (11)
Open Loop Relative (12)
Motion - Synchronized
Sync Move Absolute (13)
Sync Move Relative (14)
Sync Stop (17)
Motion - Point-to-Point
Move Absolute (20)
Move Relative (21)
Quick Move Absolute (15)
Quick Move Relative (16)
Time Move Absolute (23)
Time Move Relative (24)
Advanced Time Move Absolute (26)
Advanced Time Move Relative (27)
Move Absolute (I-PD) (28)
Move Relative (I-PD) (29)
Motion - Gearing
Gear Absolute (25)
Gear Pos (Clutch by Time) (30)
Gear Vel (Clutch by Time) (31)
Gear Pos (Clutch by Distance) (32)
Advanced Gear Move (33)
Phasing (34)
Geared Slave Offset (35)
Gear Pos (Clutch by Rate) (39)
Track Position (57)
Track Position (I-PD) (58)
Motion - Specialty
Speed at Position (36)
Sine Start (72)
Sine Stop (73)
Change Master (79)
Change Target Parameter (80)
Curve Add (82)
Curve Delete (83)
Curve Delete Except (84)
Curve Delete All (85)
Curve Start (86)
Curve Start Advanced (88)
Motion - Velocity
Move Velocity (37)
Move Velocity (I-PD) (38)
Motion - Transitions
Transition Disable (55)
Transition Rate (56)

Command	Immediate	RMC75/150	RMC200	Closed Loop	Open Loop
Pressure/Force - Standard
Ramp Pressure/Force (Rate) (18)				*
Hold Current Pressure/Force (19)
Ramp Pressure/Force (S-Curve) (41)				*
Ramp Pressure/Force (Linear) (42)				*
Stop Pressure/Force (43)				*
Enter Pressure/Force Control (Auto) (44)
Enter Pressure/Force Control (Time) (45)
Enter Pressure/Force Control (Rate) (46)
Pressure/Force - Limit
Set Pressure/Force Limit Mode (40)
Pressure/Force - Specialty
Gear Absolute (Prs/Frc) (59)				*
Transition Disable (Prs/Frc) (63)
Transition Rate (Prs/Frc) (64)
Sine Start (Prs/Frc) (76)				*
Sine Stop (Prs/Frc) (77)				*
Change Target Parameter (Prs/Frc) (81)				*
Curve Start (Prs/Frc) (87)				*
Curve Start Advanced (Prs/Frc) (89)				*
*These commands will not enter pressure/force control. The axis must first be in pressure/force control.
Set Parameters
Offset Position (47)
Set Actual Position (49)
Set Target Position (48)
Set Actual Pressure/Force (65)
Select Gain Set (75)
Set Pos/Vel Ctrl Mode (68)
Feed Forward Adjust (69)
Integrator Adjust (70)
Set Integrator Mode (71)
Set Control Direction (96)
Read Register (111)
Write Register (112)
Programming
Set Discrete Output (60)
Clear Discrete Output (61)
Toggle Discrete Output (62)
Start Task (90)
Stop Task (91)
Plots
Start Plot (100)
Stop Plot (101)
Trigger Plot (102)
Rearm Plot (103)
Enable/Disable Plot Trigger (104)
Step Editor Commands
Expression (113)
System
Arm Home (50)
Disarm Home (51)
Arm Registration (52)
Disarm Registration (53)
Learn Z Alignment (54)
Pause/Resume Log (95)
Arm Event Timer (105)
Disarm Event Timer (106)
Update Flash (110)
Save Controller Image (120)
Restore Controller Image (121)
Reset EtherCAT Network (122)