RMC200 Register Map - File 256-383 Axis Status Registers

RMC200 Registers, Files 256-383: Axis Status Registers

All Axis Status Registers are Read Only, with the exception of the Custom Counts and Custom Error Bits.

f = 256 + axis number (starting with zero)

The CPU20L supports 48 axes. The CPU40 supports 128 axes.

General

Internal IEC Address	Data Type	All Axes
General
%MDf.0	DWORD	Status Bits
%MDf.1	DWORD	Error Bits

Feedback

Internal IEC Address	Data Type	Position Axes	Velocity Axes	Single-Ended Pressure/Force	Load Cell Single-Ended Force	Differential Force	Single-Ended Acceleration	Differential Acceleration
Primary Feedback
%MDf.20	REAL	Actual Position		Actual Prs/Frc	Actual Force	Actual Force	Actual Acceleration	Actual Acceleration
%MDf.21	REAL	Actual Velocity	Actual Velocity	Actual Force Rate	Actual Force Rate	Actual Force Rate	Actual Jerk	Actual Acceleration
%MDf.22	REAL	Actual Acceleration	Actual Acceleration
%MDf.24	REAL					Channel A Force		Channel A Accel
%MDf.25	REAL					Channel A Pressure
%MDf.26	REAL	Counts/Volts/Cur.	Counts/Volts/Cur.	Counts/Volts/Cur.	Millivolts/Volt	Volts/Current A	Counts/Volts/Current	Volts/Current A
%MDf.27	DINT	Raw Counts	Raw Counts	Raw Counts	Raw Counts	Raw Counts A	Raw Counts	Raw Counts A
%MDf.28	REAL					Channel B Force		Channel B Accel
%MDf.29	REAL					Channel B Pressure
%MDf.30	REAL					Volts/Current B		Volts/Current B
%MDf.31	DINT					Raw Counts B		Raw Counts B
%MDf.32	REAL	Actual Position (Unfilt)		Actual P/F (Unfilt)	Actual Force (Unfilt)	Actual Force (Unfilt)	Actual Accel (Unfilt)	Actual Accel (Unfilt)
%MDf.33	REAL	Actual Velocity (Unfilt)	Actual Velocity (Unfilt)	Actual P/F Rate (Unfilt)	Act Force Rate (Unfilt)	Act Force Rate (Unfilt)	Actual Jerk (Unfiltered)	Actual Jerk (Unfiltered)
%MDf.34	REAL	Actual Accel (Unfilt)	Actual Accel (Unfilt)
%MDf.36	REAL	Actual Pos (Control)		Actual P/F (Control)	Actual Force (Control)	Actual Force (Control)	Actual Accel (Control)	Actual Accel (Control)
%MDf.37	REAL	Actual Vel (Control)	Actual Vel (Control)	Actual P/F Rate (Ctrl)	Act Frc Rate (Control)	Act Frc Rate (Control)	Actual Jerk (Control)	Actual Jerk (Control)
%MDf.38	REAL	Actual Accel (Control)	Actual Accel (Control)
%MDf.41	DWORD	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A
%MDf.42	DWORD	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B
%MDf.43	DWORD					Trans. 1 Status A		Trans. 1 Status A
%MDf.44	DWORD					Trans. 1 Status B		Trans. 1 Status B
%MDf.45	REAL				Millivolt Input
%MDf.46	REAL				Effective Exciter Voltage
%MDf.50	REAL	Custom Counts	Custom Counts	Custom Counts		Custom Counts	Custom Counts	Custom Counts
%MDf.51	DWORD	Custom Error Bits	Custom Error Bits	Custom Error Bits		Custom Error Bits	Custom Error Bits	Custom Error Bits
%MDf.55	DWORD	Encoder Status
%MDf.56	DWORD	Registration 0 Position
%MDf.57	DWORD	Registration 1 Position
Secondary Feedback
%MDf.80	REAL			Actual Prs/Frc	Actual Force	Actual Force	Actual Acceleration	Actual Acceleration
%MDf.81	REAL			Actual Prs/Frc Rate	Actual Force Rate	Actual Force Rate	Actual Jerk	Actual Jerk
%MDf.84	REAL					Channel A Force		Channel A Accel
%MDf.85	REAL					Channel A Pressure
%MDf.86	REAL			Counts/Volts/Cur.	Millivolts/Volt	Volts/Current A	Counts/Volts/Cur.	Volts/Current A
%MDf.87	DINT			Raw Counts	Raw Counts	Raw Counts A	Raw Counts	Raw Counts A
%MDf.88	REAL					Channel B Force		Channel B Accel
%MDf.89	REAL					Channel B Pressure
%MDf.90	REAL					Volts/Current B		Volts/Current B
%MDf.91	DINT					Raw Counts B		Raw Counts B
%MDf.92	REAL			Actual P/F (Unfilt)	Actual Force (Unfilt)	Actual Force (Unfilt)	Actual Accel (Unfilt)	Actual Accel (Unfilt)
%MDf.93	REAL			Actual P/F Rate (Unfilt)	Actual Frc Rate (Unfilt)	Actual Frc Rate (Unfilt)	Actual Jerk (Unfiltered)	Actual Jerk (Unfiltered)
%MDf.96	REAL			Actual P/F (Control)	Actual Force (Control)	Actual Force (Control)	Actual Accel (Control)	Actual Accel (Control)
%MDf.97	REAL			Actual P/F Rate (Ctrl)	Act Frc Rate (Control)	Act Frc Rate (Control)	Actual Jerk (Control)	Actual Jerk (Control)
%MDf.101	DWORD			Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A	Trans. 0 Status A
%MDf.102	DWORD			Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B	Trans. 0 Status B
%MDf.103	DWORD					Trans. 1 Status A		Trans. 1 Status A
%MDf.104	DWORD					Trans. 1 Status B		Trans. 1 Status B
%MDf.105	REAL				Millivolt Input
%MDf.106	REAL				Effective Exciter Voltage
%MDf.110	REAL			Custom Counts		Custom Counts	Custom Counts	Custom Counts
%MDf.111	DWORD			Custom Error Bits		Custom Error Bits	Custom Error Bits	Custom Error Bits

Control (Common)

Internal IEC Address	Data Type	Analog/Virtual	EtherCAT Generic	EtherCAT Valve	EtherCAT Drive Local	EtherCAT Drive Remote
Control (Common)
%MDf.140	REAL	Control Output (%)	Control Output (%)	Control Output (%)	Control Output (%)
%MDf.141	REAL	Final Output (V/mA/units)	Final Output (counts)	Final Output (counts)	Final Output (counts)
%MDf.142	DINT			Valve State	Drive State	Drive State
%MDf.143	DINT					Target Position Counts
%MDf.144	DINT					Velocity Offset Counts
%MDf.145	REAL		Setpoint Actual Value	Spool Actual Value
%MDf.150	DINT	Current Control Mode
%MDf.151	REAL	PFID Output
%MDf.170	DINT	Current Integrator Mode
%MDf.171	DINT	Next Pos/Vel Control Mode

Control (Primary and Secondary)

Internal IEC Address	Data Type	Position	Velocity	Pressure/Force
Primary Control
%MDf.180	REAL	Position Error		Prs/Frc Error
%MDf.181	REAL	Velocity Error	Velocity Error
%MDf.182	REAL	Proportional Term	Proportional Term	Prs/Frc Proportional Term
%MDf.183	REAL	Integral Term	Integral Term	Prs/Frc Integral Term
%MDf.184	REAL	Differential Term	Differential Term	Prs/Frc Differential Term
%MDf.185	REAL	Double Differential Output Term	Double Differential Output Term
%MDf.186	REAL	Triple Differential Output Term
%MDf.187	REAL			Prs/Frc Feed Forward Term
%MDf.188	REAL	Velocity Feed Forward Term	Velocity Feed Forward Term	Prs/Frc Rate Feed Forward Term
%MDf.189	REAL	Acceleration Feed Forward Term	Acceleration Feed Forward Term
%MDf.190	REAL	Jerk Feed Forward Term	Jerk Feed Forward Term
%MDf.192	REAL	Current Gain Set	Current Gain Set
Secondary Control
%MDf.290	REAL	Position Error		Prs/Frc Error
%MDf.291	REAL	Velocity Error	Velocity Error
%MDf.292	REAL	Proportional Term	Proportional Term	Prs/Frc Proportional Term
%MDf.293	REAL	Integral Term	Integral Term	Prs/Frc Integral Term
%MDf.294	REAL	Differential Term	Differential Term	Prs/Frc Differential Term
%MDf.295	REAL	Double Differential Output Term	Double Differential Output Term
%MDf.296	REAL	Triple Differential Output Term
%MDf.297	REAL			Prs/Frc Feed Forward Term
%MDf.298	REAL	Velocity Feed Forward Term	Velocity Feed Forward Term	Prs/Frc Rate Feed Forward Term
%MDf.299	REAL	Acceleration Feed Forward Term	Acceleration Feed Forward Term
%MDf.300	REAL	Jerk Feed Forward Term	Jerk Feed Forward Term
%MDf.302	REAL	Current Gain Set	Current Gain Set

Target

Internal IEC Address	Data Type	Position	Velocity	Pressure/Force
Target
%MDf.400	REAL	Target Position
%MDf.401	REAL	Target Velocity	Target Velocity
%MDf.402	REAL	Target Acceleration	Target Acceleration
%MDf.403	REAL	Target Jerk	Target Jerk
%MDf.404	REAL	Command Position
%MDf.405	REAL	Command Velocity	Command Velocity
%MDf.410	DINT	Cycles	Cycles
%MDf.440	REAL			Target Pressure/Force
%MDf.441	REAL			Target Pressure/Force Rate
%MDf.444	REAL			Command Pressure/Force
%MDf.450	DINT			Cycles (Pressure/Force)
%MDf.411	DINT	Gear Master Register	Gear Master Register
%MDf.451	DINT			Force Gear Master Register Pressure Gear Master Register