RMC200 Register Map - File 384-511 Axis Parameters

RMC200 Registers, Files 384-511: Axis Parameters

All Axis Parameter registers are Read/Write.

f = 384 + 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	Auto Stops (errors 0-7)
%MDf.1	DWORD	Auto Stops (errors 8-15)
%MDf.2	DWORD	Auto Stops (errors 16-23)
%MDf.4	REAL	Closed Loop Halt Deceleration
%MDf.5	REAL	Open Loop Halt Ramp
%MDf.6	DINT	Halt Group Number
%MDf.10	DWORD	Enable Output Configuration
%MDf.11	DWORD	Fault Input Configuration

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	Position Scale	Velocity Scale	Pressure/Force Scale	Force Scale	Force A Scale	Acceleration Scale	Channel A Accel. Scale
%MDf.21	REAL	Position Offset	Velocity Offset	Pressure/Force Offset	Force Offset	Prs. A Offset	Acceleration Offset	Channel A Accel. Offset
%MDf.22	REAL			Neg. Correction Factor	Neg. Correction Factor	Prs. A Scale		Channel B Accel. Scale
%MDf.23	REAL					Force B Scale		Channel B Accel. Offset
%MDf.24	REAL					Prs. B Scale
%MDf.25	REAL					Prs. B Offset
%MDf.26	REAL					Dual Chan Force Offset
%MDf.27	REAL		Velocity Deadband
%MDf.28	REAL	Position Unwind
%MDf.29	REAL	Count Unwind
%MDf.30	REAL	Count Offset		Voltage/Current Offset	Millivolt/Volt Offset
%MDf.31	REAL	Stop Threshold	Stop Threshold
%MDf.32	REAL	Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate
%MDf.33	DINT	Linear/Rotary
%MDf.34	DWORD	Limit Inputs Config	Limit Inputs Config
%MDf.35	DINT	Display Units	Display Units	Display Units	Display Units	Display Units	Display Units	Display Units
%MDf.36	DINT					Pressure Display Units
%MDf.40	DWORD	Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration
%MDf.41	REAL	Pos Display Filter		Prs/Frc Display Filter	Frc Display Filter	Frc Display Filter	Accel Display Filter	Accel Display Filter
%MDf.42	REAL	Vel Display Filter	Vel Display Filter	Prs/Frc Rate Display Filter	Frc Rate Display Filter	Frc Rate Display Filter	Jerk Display Filter	Jerk Display Filter
%MDf.43	REAL	Acc Display Filter	Acc Display Filter
%MDf.44	REAL	Model Response
%MDf.45	REAL	Pos Input Filter		Prs/Frc Input Filter	Force Input Filter	Force Input Filter	Accel Input Filter	Acceleration Input Filter
%MDf.46	REAL	Vel Input Filter	Velocity Input Filter	Prs/Frc Rate Input Filter	Force Rate Input Filter	Force Rate Input Filter	Jerk Input Filter	Jerk Input Filter
%MDf.47	REAL	Acc Input Filter	Accel Input Filter
%MDf.50	DINT	Model Type		Model Type	Model Type	Model Type
%MDf.51	REAL	Model Gain Positive		Model Gain Prs/Frc	Model Gain Force	Model Gain Force
%MDf.52	REAL	Model Gain Negative
%MDf.53	REAL	Model Time Constant		Model Time Constant	Model Time Constant	Model Time Constant
%MDf.54	REAL	Model Natural Freq.		Model Natural Freq.	Model Natural Freq.	Model Natural Freq.
%MDf.55	REAL	Model Damping Factor		Model Damping Factor	Model Damping Factor	Model Damping Factor
%MDf.59	DWORD	Custom FB Config	Custom FB Config	Custom FB Config			Custom FB Config
%MDf.60	DWORD	SSI/MDT Config			Load Cell Config
	DWORD	Analog Config	Analog Config	Analog Config		Analog Config	Analog Config	Analog Config
	DWORD	Quadrature Config
%MDf.61	DWORD	SSI Data Config			Load Cell Overflow Lim
%MDf.61	REAL	Analog Overflow Limit	Analog Overflow Limit	Analog Overflow Limit		Analog Overflow Limit	Analog Overflow Limit	Analog Overflow Limit
%MDf.62	REAL	Analog Underflow Limit	Analog Underflow Limit	Analog Underflow Limit	Load Cell Underflow Lim	Analog Underflow Limit	Analog Underflow Limit	Analog Underflow Limit
%MDf.63	REAL				Fixed Exciter Voltage
Secondary Feedback
%MDf.80	REAL			Pressure/Force Scale	Force Scale	Force A Scale	Acceleration Scale	Channel A Accel. Scale
%MDf.81	REAL			Pressure/Force Offset	Force Offset	Prs A Offset	Acceleration Offset	Channel A Accel. Offset
%MDf.82	REAL			Neg. Correction Factor	Neg. Correction Factor	Prs A Scale		Channel B Accel. Scale
%MDf.83	REAL					Force B Scale		Channel B Accel. Offset
%MDf.84	REAL					Prs B Offset
%MDf.85	REAL					Prs B Scale
%MDf.86	REAL					Dual Chan Frc Offset
%MDf.90	REAL			Voltage/Current Offset	Millivolts/Volt Offset
%MDf.92	REAL			Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate	Noise Error Rate
%MDf.95	DINT			Display Units	Display Units	Display Units	Display Units	Display Units
%MDf.96	DINT					Pressure Display Units
%MDf.100	DWORD			Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration	Filter Configuration
%MDf.101	REAL			Prs/Frc Display Filter	Force Display Filter	Force Display Filter	Accel Display Filter	Accel Display Filter
%MDf.102	REAL			Prs/Frc Rate Display Filter	Force Rate Display Filter	Force Rate Display Filter	Jerk Display Filter	Jerk Display Filter
%MDf.103	REAL
%MDf.104	REAL
%MDf.105	REAL			Prs/Frc Input Filter	Force Input Filter	Force Input Filter	Accel Input Filter	Accel Input Filter
%MDf.106	REAL			Prs/Frc Rate Input Filter	Force Rate Input Filter	Force Rate Input Filter	Jerk Input Filter	Jerk Input Filter
%MDf.110	DINT			Model Type	Model Type	Model Type
%MDf.111	REAL			Model Gain Prs/Frc	Model Gain Force	Model Gain Force
%MDf.113	REAL			Model Time Constant	Model Time Constant	Model Time Constant
%MDf.114	REAL			Model Natural Freq.	Model Natural Freq.	Model Natural Freq.
%MDf.115	REAL			Model Damping Factor	Model Damping Factor	Model Damping Factor
%MDf.119	DWORD			Custom FB Config			Custom FB Config	Custom FB Config
%MDf.120	DWORD			Analog Config	Load Cell Config	Analog Config	Analog Config	Analog Config
%MDf.121	REAL			Analog Overflow Limit	Load Cell Overflow Lim	Analog Overflow Limit	Analog Overflow Limit	Analog Overflow Limit
%MDf.122	REAL			Analog Underflow Limit	Load Cell Underflow Lim	Analog Underflow Limit	Analog Underflow Limit	Analog Underflow Limit
%MDf.123	REAL				Fixed Exciter Voltage

Transducer Specific Registers, EtherCAT

Internal IEC Address	Data Type	EtherCAT Drive	EtherCAT Position (non-Drive)	EtherCAT Differential Force/Accel	EtherCAT Single-Ended Velocity/Pressure/Force/Accel
Primary Feedback
%MDf.60	DWORD	EtherCAT Config. Register	EtherCAT Config. Register
%MDf.61	DINT	Input SubDevice	Input SubDevice	Input SubDevice A	Input SubDevice
%MDf.62	DWORD	Counts Index	Counts Index	Counts Index A	Counts Index
%MDf.63	DWORD	No Transducer Config	No Transducer Config	No Transducer Config A	No Transducer Config
%MDf.64	DINT	Encoder Wrap Maximum	Encoder Wrap Maximum
%MDf.65	DINT	Encoder Wrap Minimum	Encoder Wrap Minimum
%MDf.66	DWORD	Touch Probe Function Index
%MDf.67	DWORD	Touch Probe Status Index
%MDf.68	DWORD	Touch Probe Pos Position 1 Index
%MDf.69	DWORD	Touch Probe Neg Position 1 Index
%MDf.69	DINT			Input SubDevice B
%MDf.70	DWORD	Touch Probe Pos Position 2 Index		Counts Index B
%MDf.71	DWORD	Touch Probe Neg Position 2 Index		No Transducer Config B
Secondary Feedback
%MDf.121	DINT			Input SubDevice A	Input SubDevice
%MDf.122	DWORD			Counts Index A	Counts Index
%MDf.123	DWORD			No Transducer Config A	No Transducer Config
%MDf.129	DINT			Input SubDevice B
%MDf.130	DWORD			Counts Index B
%MDf.131	DWORD			No Transducer Config B

Output

Internal IEC Address	Data Type	Analog/Virtual	EtherCAT Generic	EtherCAT Valve	EtherCAT Drive Local	EtherCAT Drive Remote
Control (Common)
%MDf.140	DINT	Output Bits	Output Bits	Output Bits
%MDf.141	REAL	Output at 100%
%MDf.141	DINT		Output at 100%	Output at 100%
%MDf.142	REAL	Output at 0%
%MDf.142	DINT		Output at 0%	Output at 0%
%MDf.143	REAL	Output at -100%
%MDf.143	DINT		Output at -100% (bi)	Output at -100% (bi)
%MDf.144	REAL	Output Limit Positive Output Limit	Output Limit (uni) Positive Output Limit (bi)	Output Limit (uni) Positive Output Limit (bi)	Positive Output Limit
%MDf.145	REAL	Negative Output Limit	Negative Output Limit (bi)	Negative Output Limit (bi)	Negative Output Limit
%MDf.146	REAL	Output Bias	Output Bias	Output Bias	Output Bias
%MDf.151	REAL	Deadband Tolerance
%MDf.152	REAL	Output Deadband
%MDf.153	REAL	Output Gain
%MDf.154	DINT	Unidirectional Mode
%MDf.155	DINT	Valve Linearization Type
%MDf.156	REAL	Knee Command Input
%MDf.157	REAL	Knee Flow Output
%MDf.158	DINT	Valve Linearization Curve ID
%MDf.170	DINT	Default Integrator Mode
%MDf.171	DINT	Default Pos/Vel Control Mode
%MDf.512	DINT		Output SubDevice	Output SubDevice	Output SubDevice	Output SubDevice
%MDf.513	DINT			Control Word Index	Control Word Index	Control Word Index
%MDf.514	DINT			Status Word Index	Status Word Index	Status Word Index
%MDf.515	DWORD		Setpoint Index	Setpoint Index
%MDf.517	DWORD					Target Position Index
%MDf.518	DWORD				Target Velocity Index
%MDf.519	DWORD				Target Torque Index
%MDf.520	DWORD					Position Error Index
%MDf.521	DINT				Drive PID Output Mode
%MDf.522	DWORD				Mode of Operation Index	Mode of Operation Index
%MDf.524	REAL				Target Velocity Scale
%MDf.525	REAL				Velocity at 100% Output
%MDf.526	REAL				Target Torque Scale
%MDf.527	REAL				Torque at 100% Output

Control (Primary and Secondary)

Internal IEC Address	Data Type	Position	Velocity	Pressure/Force
Primary Control
%MDf.180	REAL	In Position Tolerance		At Pressure/Force Tolerance
%MDf.181	REAL	Position Error Tolerance		Pressure/Force Error Tolerance
%MDf.182	REAL	At Velocity Tolerance	At Velocity Tolerance
%MDf.183	REAL	Velocity Error Tolerance	Velocity Error Tolerance
%MDf.184	DINT	Symmetrical/Ratioed	Symmetrical/Ratioed
%MDf.185	DINT	Gain Sets	Gain Sets
%MDf.186	DINT			Pressure/Force Orientation
Primary Gain Set 0
%MDf.200	REAL	Proportional Gain	Proportional Gain	Pressure/Force Proportional Gain
%MDf.201	REAL	Integral Gain	Integral Gain	Pressure/Force Integral Gain
%MDf.202	REAL	Differential Gain	Differential Gain	Pressure/Force Differential Gain
%MDf.203	REAL	Double Differential Gain	Double Differential Gain
%MDf.204	REAL	Triple Differential Gain
%MDf.205	REAL			Pressure/Force Feed Forward
%MDf.206	REAL	Velocity Feed Forward, Velocity Feed Forward (Positive)	Velocity Feed Forward, Velocity Feed Forward (Positive)	Pressure/Force Rate Feed Forward
%MDf.207	REAL	Velocity Feed Forward (Negative)	Velocity Feed Forward (Negative)
%MDf.208	REAL	Acceleration Feed Forward	Acceleration Feed Forward
%MDf.209	REAL	Jerk Feed Forward	Jerk Feed Forward
%MDf.214	DINT	High-Order Control	High-Order Control
%MDf.215	REAL	Active Damping Proportional Gain	Active Damping Proportional Gain
%MDf.216	REAL	Active Damping Differential Gain	Active Damping Differential Gain
%MDf.222	REAL	Output PD Filter	Output PD Filter
Primary Gain Set 1
%MDf.230	REAL	Proportional Gain	Proportional Gain	Pressure/Force Proportional Gain
%MDf.231	REAL	Integral Gain	Integral Gain	Pressure/Force Integral Gain
%MDf.232	REAL	Differential Gain	Differential Gain	Pressure/Force Differential Gain
%MDf.233	REAL	Double Differential Gain	Double Differential Gain
%MDf.234	REAL	Triple Differential Gain
%MDf.235	REAL			Pressure/Force Feed Forward
%MDf.236	REAL	Velocity Feed Forward, Velocity Feed Forward (Positive)	Velocity Feed Forward, Velocity Feed Forward (Positive)	Pressure/Force Rate Feed Forward
%MDf.237	REAL	Velocity Feed Forward (Negative)	Velocity Feed Forward (Negative)
%MDf.238	REAL	Acceleration Feed Forward	Acceleration Feed Forward
%MDf.239	REAL	Jerk Feed Forward	Jerk Feed Forward
%MDf.244	DINT	High-Order Control	High-Order Control
%MDf.245	REAL	Active Damping Proportional Gain	Active Damping Proportional Gain
%MDf.246	REAL	Active Damping Differential Gain	Active Damping Differential Gain
%MDf.252	REAL	Output PD Filter	Output PD Filter
Secondary Control
%MDf.290	REAL			At Pressure/Force Tolerance
%MDf.291	REAL			Pressure/Force Error Tolerance
%MDf.296	REAL			Pressure/Force Orientation
Secondary Gain Set 0
%MDf.310	REAL			Pressure/Force Proportional Gain
%MDf.311	REAL			Pressure/Force Integral Gain
%MDf.312	REAL			Pressure/Force Differential Gain
%MDf.315	REAL			Pressure/Force Feed Forward
%MDf.316	REAL			Pressure/Force Rate Feed Forward

Target

Internal IEC Address	Data Type	Position	Velocity	Pressure/Force
%MDf.400	REAL	Positive Travel Limit
%MDf.401	REAL	Negative Travel Limit
%MDf.402	DINT	Target Type	Target Type
%MDf.403	REAL	Requested Jerk	Requested Jerk
%MDf.440	REAL			Positive Pressure/Force Limit
%MDf.441	REAL			Negative Pressure/Force Limit

Simulator

Internal IEC Address	Data Type	Position
%MDf.480	DINT	Simulate Mode
%MDf.481	DINT	Simulator Order/Type
%MDf.482	REAL	Positive System Gain
%MDf.483	REAL	Negative System Gain
%MDf.484	REAL	Time Constant (1st order)
%MDf.485	REAL	Natural Frequency (2nd order)
%MDf.486	REAL	Damping Factor (2nd order)
%MDf.487	REAL	Positive Physical Limit
%MDf.488	REAL	Negative Physical Limit
%MDf.489	REAL	Output Deadband
%MDf.490	REAL	Output Null
%MDf.491	REAL	Weight
%MDf.492	REAL	Maximum Force
%MDf.493	REAL	Maximum Compression