Flash Memory

The RMC has two blocks of Flash memory that can be independently updated. The first section contains all of the following information:

All axes' parameters
The profile table
The entire step table
The input to event table
Communication configuration data
LCD screens

The second section contains the following:

Spline tables

Determining if the Flash Data was Used

Prior to issuing the first Set Parameters (P) command, the Initialized bit in the STATUS word will be cleared. While this bit is cleared, the Parameter error bit in the STATUS word of the first axis will indicate whether the first Flash section was valid. If the Parameter error bit is set, then the checksum was invalid and all data stored in the Flash will use default values. If the Parameter error bit is not set, then the checksum was correct and the data stored in the Flash will be used. Similarly, the Parameter error bit in the Status word of the second axis will indicate whether the second Flash section (the splines) was valid.

Storing Data in the Flash

All data in each section is stored simultaneously. Therefore, it is not possible to store just the step table in the Flash without storing all the other data in that section listed above. This will not be a problem as long as you ensure that all data you want to be stored is set correctly before saving the data in the Flash.

To update the first Flash section, issue the Update Flash (U) command to any axis, or use the Save to Flash toolbar button in RMCWin's main or LCD Screen Editor windows.

To update the second (spline) Flash section, use the Save Splines to Flash toolbar button in RMCWin's Curve Tool window. Notice that this section cannot be updated without using RMCWin.

While either Flash section is being updated, the green CPU LED will flash. During this time motion control will continue, but removing the power from the module will result in all parameters being stored in the Flash to be lost.

The disadvantage of storing configuration data in the motion controller is that, when one module is replaced with another, the parameters and profiles must be loaded into the new module. Because of this, all parameters, profiles and event step table data must be stored either in the control program or in RMCWin files so they can be later transferred to the motion controller when needed.