RMC Commands Overview

The RMC has a rich set of pre-programmed commands that perform anything from simple moves to complex motions to system control. Each command is represented by a name and a number.

For a list of all the RMC commands, see the Command List topic.

Issuing Commands

For details on how to send commands to the RMC, see the Issuing Commands topic.

Command Format

Each RMC command consists of a command number followed optionally by one to nine command parameters:

Command Number
Each RMC command has a number associated with it. You must use this number when you issue a command to the RMC. The number is typically included in parentheses whenever the command is mentioned. For example, the Move Absolute Command (20) has a number of 20. This number is not important when used in RMCTools.
Command Parameters
Some commands have command parameters. For example, the Move Absolute Command (20) has 5 command parameters: Position, Velocity, Accel rate, Decel Rate, and Direction. The RUN Mode (98) command has no parameters. When you issue a command, you must include any command parameters.

Command Area Registers

In the RMC register map, the command consists of one block of ten 32-bit command registers per axis. These registers are called the Command Area registers. You must write to these registers when issuing commands from a PLC or other host controller. When issuing commands from RMCTools, you need not be concerned with these addresses.

The command area registers are write-only. The Data Type for all commands and parameters is REAL.

RMC75 Command Registers

Address (IEC)	Register Name
%MD25.0-9	Axis 0 Command Registers
%MD25.0	Axis 0 Command
%MD25.1	Axis 0 Parameter 1
%MD25.2	Axis 0 Parameter 2
%MD25.3	Axis 0 Parameter 3
%MD25.4	Axis 0 Parameter 4
%MD25.5	Axis 0 Parameter 5
%MD25.6	Axis 0 Parameter 6
%MD25.7	Axis 0 Parameter 7
%MD25.8	Axis 0 Parameter 8
%MD25.9	Axis 0 Parameter 9
%MD25.10-19	Axis 1 Command Registers
%MD25.20-29	Axis 2 Command Registers
%MD25.30-39	Axis 3 Command Registers

RMC150 Command Registers

Address (IEC)	Register Name
%MD40.0-9	Axis 0 Command Registers
%MD40.0	Axis 0 Command
%MD40.1	Axis 0 Parameter 1
%MD40.2	Axis 0 Parameter 2
%MD40.3	Axis 0 Parameter 3
%MD40.4	Axis 0 Parameter 4
%MD40.5	Axis 0 Parameter 5
%MD40.6	Axis 0 Parameter 6
%MD40.7	Axis 0 Parameter 7
%MD40.8	Axis 0 Parameter 8
%MD40.9	Axis 0 Parameter 9
%MD40.10-19	Axis 1 Command Registers
%MD40.20-29	Axis 2 Command Registers
%MD40.30-39	Axis 3 Command Registers
%MD40.40-49	Axis 4 Command Registers
%MD40.50-59	Axis 5 Command Registers
%MD40.60-69	Axis 6 Command Registers
%MD40.70-79	Axis 7 Command Registers
%MD40.80-89	Axis 8 Command Registers
%MD40.90-99	Axis 9 Command Registers
%MD40.100-109	Axis 10 Command Registers
%MD40.110-119	Axis 11 Command Registers
%MD40.120-129	Axis 12 Command Registers
%MD40.130-139	Axis 13 Command Registers
%MD40.140-149	Axis 14 Command Registers
%MD40.150-159	Axis 15 Command Registers

RMC200 Command Registers

Address (IEC)	Description
%MD16.0	Axis 0 Command Registers
%MD16.1	Axis 0 Parameter 1
%MD16.2	Axis 0 Parameter 2
%MD16.3	Axis 0 Parameter 3
%MD16.4	Axis 0 Parameter 4
%MD16.5	Axis 0 Parameter 5
%MD16.6	Axis 0 Parameter 6
%MD16.7	Axis 0 Parameter 7
%MD16.8	Axis 0 Parameter 8
%MD16.9	Axis 0 Parameter 9
%MD16.10-19	Axis 1 Command Registers
%MD16.20-29	Axis 2 Command Registers
%MD16.30-39	Axis 3 Command Registers
%MD16.40-49	Axis 4 Command Registers
%MD16.50-59	Axis 5 Command Registers
%MD16.60-69	Axis 6 Command Registers
%MD16.70-79	Axis 7 Command Registers
%MD16.80-89	Axis 8 Command Registers
%MD16.90-99	Axis 9 Command Registers
%MD16.100-109	Axis 10 Command Registers
%MD16.110-119	Axis 11 Command Registers
%MD16.120-129	Axis 12 Command Registers
%MD16.130-139	Axis 13 Command Registers
%MD16.140-149	Axis 14 Command Registers
%MD16.150-159	Axis 15 Command Registers
%MD16.160-169	Axis 16 Command Registers
%MD16.170-179	Axis 17 Command Registers
%MD16.180-189	Axis 18 Command Registers
%MD16.190-199	Axis 19 Command Registers
%MD16.200-209	Axis 20 Command Registers
%MD16.210-219	Axis 21 Command Registers
%MD16.220-229	Axis 22 Command Registers
%MD16.230-239	Axis 23 Command Registers
%MD16.240-249	Axis 24 Command Registers
%MD16.250-259	Axis 25 Command Registers
%MD16.260-269	Axis 26 Command Registers
%MD16.270-279	Axis 27 Command Registers
%MD16.280-289	Axis 28 Command Registers
%MD16.290-299	Axis 29 Command Registers
%MD16.300-309	Axis 30 Command Registers
%MD16.310-319	Axis 31 Command Registers
...	...
%MD16.1270-1279	Axis 127 Command Registers