Document Outline

• RMC Family Motion Controllers
• Basics of Operation
• Disclaimer
• RMC Startup Procedure
• 2.2. Scaling
  • Scaling Overview
  • Analog Position Scaling
  • Analog Velocity Scaling
  • Analog Acceleration Scaling
  • Analog Pressure or Force Scaling
  • MDT Scaling
  • SSI Scaling
  • Rotary Scaling
  • Quadrature Scaling
  • Scaling Rates on a Position Axis
• 2.3. Tuning
  • Tuning Overview
  • Tuning Wizard
  • Autotuning
  • 2.3.4. Creating Plots for Tuning
  • Gain Calculator
  • Tuning a Position Axis
  • Tuning a Pressure/Force System
  • Tuning a Position-Pressure or Position-Force System
  • Tuning a Motor in Torque Mode
  • Tuning a Pneumatic System
  • Tuning Active Damping and Acceleration Control
• RMC Controller Features
• 3.2. General
  • Firmware
  • Loop Time
  • RUN/PROGRAM Mode
  • Registration
  • Homing
  • Physical Limit Inputs
  • Feedback Resolution
• 3.3. Axes
  • Axes Types
  • Defining Axes
  • 3.3.3. Control and Reference Axes
    • Axis Type: Control
    • Axis Type: Reference
    • 3.3.3.3. Axis Type: Cascading Outer Loop
  • 3.3.4. Other Axis Types
    • Axis Type: Rotary and Linear
    • 3.3.4.2. Axis Type: Incremental and Absolute
    • Virtual Axes
    • 3.3.4.4. Input Type: Pressure
    • Input Type: Single-Input Force
    • Input Type: Dual-Input (Differential) Force
    • 3.3.4.7. Input Type: Custom
• 3.4. Halts
  • Halts Overview
  • External Halt
  • Closed Loop Halt
  • Open Loop Halt
  • Direct Output Halt
• 3.5. Control Modes
  • Control Modes Overview
  • Closed Loop Control
  • Open Loop Control
  • Position PID
  • Velocity PID
  • Gain Sets Overview
  • Ratioed Gains
  • Gain Scheduling
  • Valve Linearization
  • 3.5.10. Unidirectional Mode
  • Velocity and Torque Mode
  • 3.5.12. Advanced
    • Position I-PD
    • Velocity I-PD
    • Active Damping
    • Acceleration Control
    • Cascade Control
• 3.6. Motion
  • Synchronizing Axes
  • Using Rotary Motion
  • Velocity Control
  • Gearing
  • Simulating Motion
  • Step Jumps
  • 3.6.7. Curves, Cams, and Splines
    • Curves Overview
    • 3.6.7.2. Managing Curves in the Curve Tool
    • Creating Curves Using the Curve Add Command
    • Creating Large Curves using the Curve Add Command
    • Curve Interpolation Methods and Options
    • Curve Data Formats
    • Curve Status Error Codes
    • Curve Storage Capacity
    • Example: Creating a Curve using the Curve Add Command
• 3.7. Pressure and Force Control
  • Pressure/Force Control Overview
  • Controlling Only Pressure or Force
  • Position-Pressure and Position-Force Control
  • Velocity-Pressure and Velocity-Force Control
  • Pressure/Force Limit
  • Pressure/Force Limit Details
• 3.8. Filtering/Modeling
  • Filtering
  • Modeling
• 3.9. Plots
  • Using Plots
  • Saving and Exporting Plots
  • Triggering Plots
  • Using Plots with a Host Controller
  • Reading RMC Plots with a Host Controller
  • Mean Squared Error
• 3.10. Custom Feedback
  • Custom Feedback
  • Switching Feedback using Custom Feedback
  • Feedback Linearization using Curves
  • Feedback Linearization Using a Mathematical Formula
  • Redundant Feedback using Custom Feedback
• 3.11. Applications
  • Electric Servo Motor Control
  • Hydraulic Control
  • Pneumatic Control
• 3.12. Transducers Basics
  • MDT Transducer Fundamentals
  • SSI Fundamentals
  • Analog Feedback Fundamentals
  • Quadrature Encoder Fundamentals
  • Resolver Fundamentals
• 3.13. Other
  • Controller Image Upload/Download
• Using RMCTools
• Using the RMCTools Interface
• Project and Controller Data
• 4.4. Project
  • RMCTools Project
  • RMCTools Project Pane
• 4.5. Controller
  • New Controller Wizard: Welcome
  • Connection Path
  • Go Online, Go Offline
  • Using RUN/PROGRAM Mode in RMCTools
  • Communication Statistics Window
  • Updating Flash
  • Resetting the RMC to Defaults
• 4.6. Modules
  • Modules List
  • View/Change Controller Hardware
• 4.7. Axes
  • 4.7.1. Axis Tools
    • Axis Tools Window
    • Axis Status Registers Pane
    • Axis Parameters Pane
  • Axis Definitions Dialog
• 4.8. Command Tool
  • Command Tool
• 4.9. Plots
  • Plot Manager Overview
  • Plot Manager Elements
  • Plot Template Editor
  • 4.9.4. Using Custom Plots
  • Plot Quantity Selection Tool
  • Using Plot Template Sets
• 4.10. Tuning
  • 4.10.1. System Identification
  • Tuning Tools
• 4.11. Programming
  • Programming Folder Overview
  • Step Editor
  • Program Triggers
  • Task Monitor
  • Variable Table Editor
  • User Functions
  • 4.11.7. Discrete I/O Configuration Window
  • I/O Monitor
• 4.12. Curve Tool
  • Curve Tool
  • Curve Properties
• 4.13. Indirect Data Map
  • Indirect Data Map Editor
• 4.14. Shortcut Sets
  • Shortcut Commands
  • 4.14.2. Shortcut Command Set Editor
• 4.15. Event Log
  • Event Log Monitor
  • Event Log Filtering
• 4.16. General Tools
  • Uploading and Downloading
  • Error Icon and Error Bubble
  • Address Selection Tool (Single Register)
  • Output Window
  • Verify Results Window
  • Actuator View
  • RMCTools Options Dialog
  • Communication Log
  • Keyboard Shortcuts
  • Copy and Paste
  • Find and Replace
  • Printing in RMCTools
• 4.17. Wizards
  • Scale/Offset Wizard Overview
  • Autotuning Wizard: Welcome Page
  • 4.17.3. Autotuning Wizard: Enter Move Parameters Page
  • Simulator Wizard
  • Firmware Update Wizard
• 4.18. Menu and Toolbars
  • RMCTools Menu Bar
  • Standard Toolbar
  • Shortcut Command Toolbar
  • RMCTools Status Bar
• Programming Overview
• Issuing Commands to the RMC
• Tasks
• Variables
• Program Triggers
• Downloading the Programming
• Tag Names
• Program Capacity and Time Usage
• Programming Security
• RMCTools Security Policy and Agreement
• 5.11. User Programs
  • User Programs Overview
  • Creating User Programs
  • Verifying User Programs
  • Running User Programs
  • Stopping User Programs
  • Labeling Steps
  • Exporting and Importing User Programs
  • Using Expressions for Commanded Axes
  • 5.11.9. Link Types
    • Link Types Overview
    • Link Type: Immediate
    • Link Type: Jump
    • Link Type: Delay
    • Link Type: Wait For
    • Link Type: Conditional Jump
    • Link Type: End
• 5.12. Data Types
  • Data Types
  • BOOL Data Type
  • DINT Data Type
  • DWORD Data Type
  • REAL Data Type
• 5.13. Expressions
  • Expressions Overview
  • Assignment Expressions
  • Condition Expressions
  • Value Expressions
  • Local Variables in User Program Steps
  • Arrays
  • Operators
  • 5.13.8. Keywords
  • IF Statement
  • Constants
  • Comments
  • Limitations of 32-bit Numbers
  • Troubleshooting Expressions
• 5.14. Functions
  • Functions Overview
  • 5.14.2. Standard Functions
    • Standard Functions
    • ABS Function
    • ACOS Function
    • ADDR_OFS Function
    • ASHR Function
    • ASIN Function
    • ATAN Function
    • CEIL Function
    • COPY Function
    • COS Function
    • COSH Function
    • CRV_EXISTS Function
    • CRV_FIRST_X Function
    • CRV_INTERP Functions
    • CRV_LAST_X Function
    • DINT_TO_DWORD Function
    • DINT_TO_REAL Function
    • DWORD_TO_DINT Function
    • EXP Function
    • FILL Function
    • FLOOR Function
    • LENGTH Function
    • LIMIT Function
    • LOG Function
    • LN Function
    • LOG_EVENT Function
    • MAX Function
    • MIN Function
    • MROUND Function
    • POLY Function
    • REAL_TO_DINT Function
    • REG_REAL, REG_DINT, REG_DWORD Functions
    • ROL Function
    • ROR Function
    • ROUND Function
    • SEL Function
    • SHL Function
    • SHR Function
    • SIGNUM Function
    • SIN Function
    • SINH Function
    • SQRT Function
    • TAN Function
    • TANH Function
    • TRUNC Function
    • TRUNC_REAL Function
  • 5.14.3. User Functions
    • User Functions
    • Declaring Variables and Parameters in User Functions
    • Example User Functions
• 5.15. Discrete I/O
  • Discrete I/O Overview
  • Using Discrete I/O
  • Configuring Discrete I/O
• 5.16. Programming Examples and Tips
  • Programming Examples and Tips
  • Example: A Basic User Program
  • Example: A Simple User Program
  • Example: Closed Loop Motion on Startup
  • Example: Jogging an Axis
  • Example: Creating a Timer
  • Example: Time-out
  • Example: Using Arrays
  • Application Tip: Emergency Stops
• RMC Communications Overview
• Communication Statistics
• Monitor Port — USB or RS-232
• Indirect Data Map
• Communicating with HMIs
• Discrete I/O for Communications
• Command Request and Acknowledge Bits
• 6.8. Ethernet
  • Ethernet Communications Overview
  • Using Ethernet with RMCTools
  • Using the RMC's PLC Ethernet Emulation
  • Communicating Directly over TCP
  • Communicating Directly over UDP
  • Ethernet Link/Act LED
  • Troubleshooting RMCTools Ethernet Connection
  • 6.8.8. Ethernet Setup Topics
    • Setting Up the RMC Ethernet
    • RMC Ethernet Protocols
  • 6.8.9. Ethernet Informational Topics
    • Setting Up a Standalone TCP/IP Control Network
    • Understanding Ethernet IP Addressing
    • Ethernet MAC Address
  • 6.8.10. Supported Protocols
    • Modbus/TCP
    • CSP
    • FINS/UDP
    • Mitsubishi Procedure Exist Protocol
    • DMCP
    • 6.8.10.6. EtherNet/IP
      • EtherNet/IP (CIP)
      • Setting Up an EtherNet/IP I/O Connection
      • Using an EtherNet/IP I/O Connection
      • Handling Broken EtherNet/IP I/O Connections
      • Troubleshooting EtherNet/IP I/O
      • Multiple EtherNet/IP I/O Connections
      • EtherNet/IP Performance Considerations
      • Using EtherNet/IP Explicit Messaging
    • 6.8.10.7. PROFINET
      • PROFINET Overview
      • Setting up a PROFINET I/O Connection
      • Using a PROFINET I/O Connection
      • Using PROFINET Record Data
      • Handling Broken PROFINET Connections
      • Troubleshooting PROFINET
• 6.9. PROFIBUS
  • PROFIBUS-DP Slave Communications Overview
  • Troubleshooting PROFIBUS
  • 6.9.3. Configuration
    • PROFIBUS Configuration
    • 6.9.3.2. Configuring a PROFIBUS-DP Network with COM PROFIBUS
    • Configuring a PROFIBUS-DP Network with SST Profibus Configuration
    • 6.9.3.4. Configuring a PROFIBUS-DP Network with SyCon
  • 6.9.4. Using I/O Modes
    • PROFIBUS Mode: I/O Modes
  • 6.9.5. Using Basic/Enhanced Modes (RMC75P Only)
    • 6.9.5.1. Basic/Enhanced PROFIBUS Modes (RMC75P Only)
    • PROFIBUS Mode: Basic
    • PROFIBUS Mode: Basic+
    • PROFIBUS Mode: Enhanced
    • PROFIBUS Mode: Enhanced+
• 6.10. Serial (RS-232/485) (RMC70)
  • Serial Communications Overview
  • Using Serial Communications
  • 6.10.3. Configuration and Wiring
    • Line Drivers: RS-232/485
    • Configuring the RMC75S Serial Communications
    • Serial Network Topologies
    • RS-232 Wiring for the RMC70
    • RS-485 Wiring for the RMC75S
    • RS-485 Termination and Biasing
  • 6.10.4. RMC75S Serial Protocols
    • DF1 Protocol (Full- and Half-Duplex)
    • Mitsubishi Bidirectional Protocol
    • Modbus/RTU Protocol
• 6.11. Using Master Controllers
  • Using Allen-Bradley Controllers via Message Block
  • Using Allen-Bradley Controllers via EtherNet/IP I/O
  • Using AutomationDirect PLCs with the RMC
  • Using GE PLCs with the RMC
  • Using LabVIEW with RMCs
  • Using Mitsubishi PLCs with the RMC
  • Using Schneider Electric (Modicon) PLCs via Modbus/TCP
  • Using Schneider Electric PLCs via EtherNet/IP I/O
  • Using Omron Controllers via the FINS Protocol
  • Using Omron Controllers via EtherNet/IP I/O
  • Using RSView with the RMC
  • Using Siemens S7 PLCs via PROFINET
  • Using Siemens S7 PLCs via PROFIBUS
  • Using Wonderware with the RMC
  • RMCLink ActiveX Control and .NET Assembly
  • 6.11.16. Using Other Master Controllers with the RMC
• 7.1. RMC Hardware Overview
• 7.2. RMC70
  • RMC70 Modules Overview
  • RMC70 Part Numbering
  • 7.2.3. CPU Modules
    • RMC70 CPU Modules Overview
    • RMC75E
    • RMC75S CPU Module
    • RMC75P CPU Module
  • 7.2.4. Axis Modules
    • Axis Modules Overview
    • AA Module
    • MA Axis Module
    • QA Axis Module
  • 7.2.5. Expansion Modules
    • Expansion Modules Overview
    • Adding an Expansion Module to a Controller
    • A2 Expansion Module
    • AP2 Expansion Module
    • D8 Expansion Module
    • Q1 Expansion Module
• 7.3. RMC150
  • RMC150 Overview
  • RMC150 Part Numbering
  • RMC150E/RMC151E CPU Module
  • 7.3.4. Analog Modules
    • Analog (H) Module (RMC150)
    • Analog (A) Module (RMC150)
    • Analog (G) Module (RMC150)
  • 7.3.5. MDT Module
    • MDT (M) Module (RMC150)
  • 7.3.6. SSI Module
    • SSI (S) Module (RMC150)
  • 7.3.7. Quadrature Module
    • Quadrature (Q) Module (RMC150)
  • 7.3.8. Resolver Module
    • Resolver (R) Module (RMC150)
    • Resolver (RW) Module (RMC150)
  • 7.3.9. DI/O Module
    • DI/O Module (RMC150)
  • 7.3.10. UI/O Module
    • UI/O Module (RMC150)
    • Configuring UI/O High-Speed Channels
  • 7.3.11. PROFIBUS Module
    • PROFIBUS Module (RMC150)
• 7.4. General
  • Control Output
  • Enable Output
  • Fault Input
• 7.5. Accessories
  • VC2124 and VC2100 Voltage-to-Current Converters
  • Quadrature Cable
• Agency Compliance
• RMC Commands Overview
• RMC Commands
• 8.3. General Commands
  • Command: No-op (0)
  • Command: Clear Faults (4)
  • Command: Enable Controller (7)
  • Command: Fault Controller (8)
  • Command: Set Enable Output (67)
  • Command: Enable/Disable Axis (97)
  • Command: RUN Mode (98)
  • Command: PROGRAM Mode (99)
• 8.4. Motion Commands
  • Motion Commands
  • 8.4.2. Stops
    • Command: Stop (Closed Loop) (6)
    • Command: Stop (Open Loop) (22)
    • Command: Hold Current Position (5)
    • Command: Closed Loop Halt (1)
    • Command: Open Loop Halt (2)
    • Command: Direct Output Halt (3)
  • 8.4.3. Open Loop
    • Command: Direct Output (9)
    • Command: Open Loop Rate (10)
    • Command: Open Loop Absolute (11)
    • Command: Open Loop Relative (12)
  • 8.4.4. Synchronized
    • Command: Sync Move Absolute (13)
    • Command: Sync Move Relative (14)
    • Command: Sync Stop (17)
  • 8.4.5. Point-to-Point
    • Command: Move Absolute (20)
    • Command: Move Relative (21)
    • Command: Quick Move Absolute (15)
    • Command: Quick Move Relative (16)
    • Command: Time Move Absolute (23)
    • Command: Time Move Relative (24)
    • Command: Advanced Time Move Absolute (26)
    • Command: Advanced Time Move Relative (27)
    • Command: Move Absolute (I-PD) (28)
    • Command: Move Relative (I-PD) (29)
  • 8.4.6. Gearing
    • Command: Gear Absolute (25)
    • Command: Gear Position (Clutch by Time) (30)
    • Command: Gear Velocity (31)
    • Command: Gear Position (Clutch by Rate) (39)
    • Command: Gear Position (Clutch by Distance) (32)
    • Command: Phasing (34)
    • Command: Geared Slave Offset (35)
    • Command: Advanced Gear Move (33)
    • Command: Track Position (57)
    • Command: Track Position (I-PD) (58)
  • 8.4.7. Specialty
    • Command: Speed at Position (36)
    • Command: Sine Start (72)
    • Command: Sine Stop (73)
    • Command: Change Master (79)
    • Command: Change Target Parameter (80)
    • Command: Curve Add (82)
    • Command: Curve Delete (83)
    • Command: Curve Delete Except (84)
    • Command: Curve Delete All (85)
    • Command: Curve Start (86)
    • Command: Curve Start Advanced (88)
  • 8.4.8. Velocity
    • Command: Move Velocity (37)
    • Command: Move Velocity (I-PD) (38)
  • 8.4.9. Transitions
    • Command: Transition Disable (55)
    • Command: Transition Rate (56)
• 8.5. Pressure/Force Control
  • 8.5.1. Standard
    • Command: Hold Current Pressure/Force (19)
    • Command: Stop Pressure/Force (43)
    • Command: Ramp Pressure/Force (Rate) (18)
    • Command: Ramp Pressure/Force (S-Curve) (41)
    • Command: Ramp Pressure/Force (Linear) (42)
    • Command: Enter Pressure/Force Control (Auto) (44)
    • Command: Enter Pressure/Force Control (Time) (45)
    • Command: Enter Pressure/Force Control (Rate) (46)
  • 8.5.2. Pressure/Force Limit
    • Command: Set Pressure/Force Limit Mode (40)
  • 8.5.3. Specialty
    • Command: Gear Absolute Prs/Frc (59)
    • Command: Transition Disable Prs/Frc (63)
    • Command: Transition Rate (Prs/Frc) (64)
    • Command: Sine Start (Prs/Frc) (76)
    • Command: Sine Stop (Prs/Frc) (77)
    • Command: Change Target Parameter (Prs/Frc) (81)
    • Command: Curve Start (Prs/Frc) (87)
    • Command: Curve Start Advanced (Prs/Frc) (89)
• 8.6. Set Parameters
  • Command: Offset Position (47)
  • Command: Set Target Position (48)
  • Command: Set Actual Position (49)
  • Command: Set Pos/Vel Ctrl Mode (68)
  • Command: Feed Forward Adjust (69)
  • Command: Integrator Adjust (70)
  • Command: Set Integrator Mode (71)
  • Command: Set Control Direction (96)
  • Command: Read Register (111)
  • Command: Write Register (112)
• 8.7. System
  • Command: Arm Home (50)
  • Command: Disarm Home (51)
  • Command: Arm Registration (52)
  • Command: Disarm Registration (53)
  • Command: Learn Z Alignment (54)
  • Command: Pause/Resume Log (95)
  • Command: Update Flash (110)
• 8.8. Programming
  • Command: Start Task (90)
  • Command: Stop Task (91)
  • Command: Set Discrete Output (60)
  • Command: Clear Discrete Output (61)
  • Command: Toggle Discrete Output (62)
• 8.9. Plots
  • Command: Start Plot (100)
  • Command: Stop Plot (101)
  • Command: Trigger Plot (102)
  • Command: Rearm Plot (103)
  • Command: Enable/Disable Plot Trigger (104)
• 8.10. Step Editor Commands
  • Command: Expression (113)
• Registers
• 9.2. Register Descriptions
  • 9.2.1. Axis Status Registers
    • Axis Status Registers Overview
    • 9.2.1.2. Common
      • Status Bits Register
      • Error Bits Register
      • Last Error Number Register
      • Read Response
    • 9.2.1.3. Feedback
      • Actual Position
      • Actual Velocity
      • Actual Acceleration
      • 9.2.1.3.4. Actual Jerk
      • Actual Pressure/Force
      • Actual Pressure/Force Rate
      • Counts
      • Voltage
      • Current
      • Raw Counts
      • Channel A, B Raw Counts
      • Channel A, B Current
      • Channel A, B Voltage
      • Channel A, B Force
      • Channel A, B Acceleration
      • Custom Counts
      • Custom Error Bits
    • 9.2.1.4. Output
      • Control Output
    • 9.2.1.5. Primary Control
      • Position Error
      • Velocity Error
      • Proportional Output Term
      • Integral Output Term
      • 9.2.1.5.5. Double Differential Output Term
      • Differential Output Term
      • 9.2.1.5.7. Triple Differential Output Term
      • Acceleration Feed Forward Term
      • Velocity Feed Forward Term
      • Jerk Feed Forward Term
      • PFID Output
      • Current Control Mode
      • Next Pos/Vel Control Mode
    • 9.2.1.6. Secondary Control
      • Pressure/Force Error
      • Pressure/Force Proportional Term
      • Pressure/Force Integral Term
      • Pressure/Force Differential Term
      • Pressure/Force Feed Forward Term
      • Pressure/Force Rate Feed Forward Term
    • 9.2.1.7. Target
      • Command Position
      • Command Velocity
      • Target Position
      • Target Velocity
      • Target Acceleration
      • Target Jerk
      • Cycles
      • Command Pressure/Force
      • Target Pressure/Force
      • Target Pressure/Force Rate
      • Cycles (Pressure or Force)
    • 9.2.1.8. Home/Registration
      • Registration 0 Position
      • Registration 1 Position
      • Encoder Status
  • 9.2.2. Axis Parameter Registers
    • Axis Parameter Registers Overview
    • 9.2.2.2. Feedback
      • Position Scale
      • Position Offset
      • Velocity Scale
      • Velocity Deadband
      • Velocity Offset
      • Acceleration Scale
      • Acceleration Offset
      • Channel A, B Acceleration Scale
      • Channel A, B Acceleration Offset
      • Position Unwind
      • Count Unwind
      • Count Offset
      • Absolute/Incremental
      • Linear/Rotary
      • Stop Threshold
      • Noise Error Rate
      • Display Units
      • Custom Units
      • Primary Input Bits Register
      • 9.2.2.2.20. Filtering/Modeling
        • Actual Position Filter
        • Velocity Filter Type
        • Actual Velocity Filter
        • Acceleration Filter Type
        • Actual Acceleration Filter
        • Actual Jerk Filter
        • Actual Pressure/Force Filter
        • Actual Pressure/Force Rate Filter
        • Model Order
        • Model Gain Positive
        • Model Gain Negative
        • Model Gain (Pressure or Force)
        • Model Time Constant
        • Model Natural Frequency
        • Model Damping Factor
        • Model Response
      • 9.2.2.2.21. Pressure & Force
        • Channel A Force Scale, Channel B Force Scale
        • Channel A Force Offset, Channel B Force Offset
        • Pressure/Force Scale
        • Pressure/Force Offset
      • 9.2.2.2.22. Limit Inputs
        • Positive Limit Input
        • Negative Limit Input
        • Limit Input Polarity
      • 9.2.2.2.23. Transducer Specific
        • 9.2.2.2.23.1. Feedback Type (MA Modules)
        • MDT Type
        • MDT Blanking Parameter
        • SSI Format
        • SSI Data Bits
        • SSI Clock Rate
        • 9.2.2.2.23.7. SSI Clock Mode
        • SSI Termination Parameter
        • SSI Wire Delay
        • SSI Home Source
        • SSI Overflow Mode
        • Wire Break Detection
        • Analog Input Type
        • Input Termination Parameter
        • Filter Reg Input Parameter
        • Index (Z) Home Location
        • Resolver Resolution
        • Reference Amplitude
        • Reference Frequency
        • Analog Feedback Configuration Register
        • MDT/SSI Configuration Register
        • Quadrature Feedback Register
        • Resolver Configuration Register
      • 9.2.2.2.24. Custom
        • Custom Feedback Configuration Register
        • Custom Feedback Auto-Fault Mode
    • 9.2.2.3. Simulator
      • Simulate Mode
      • System Gain (Simulator)
      • Natural Frequency (Simulator)
      • Damping Factor (Simulator)
      • Positive Physical Limit (Simulator)
      • Negative Physical Limit (Simulator)
      • Output Deadband (Simulator)
      • Output Null (Simulator)
      • Weight (Simulator)
      • Maximum Force (Simulator)
      • Maximum Compression (Simulator)
      • Simulator Configuration Register
    • 9.2.2.4. Position/Velocity Control
      • In Position Tolerance
      • Position Error Tolerance
      • At Velocity Tolerance
      • Velocity Error Tolerance
      • Integrator Mode
      • Proportional Gain
      • Integral Gain
      • Differential Gain
      • Velocity Feed Forward
      • 9.2.2.4.10. Velocity Feed Forward (Positive)
      • 9.2.2.4.11. Velocity Feed Forward (Negative)
      • Acceleration Feed Forward
      • Jerk Feed Forward
      • Double Differential Gain
      • Active Damping Proportional Gain
      • Triple Differential Gain
      • Active Damping Differential Gain
      • Gain Sets
      • Symmetrical/Ratioed
      • High-Order Control
      • Default Pos/Vel Control Mode
      • Primary Control Configuration Register
    • 9.2.2.5. Pressure/Force Control
      • At Pressure/Force Tolerance
      • Pressure/Force Error Tolerance
      • Pressure/Force Proportional Gain
      • Pressure/Force Integral Gain
      • Pressure/Force Differential Gain
      • Pressure/Force Feed Forward
      • Pressure/Force Rate Feed Forward
      • Pressure/Force Orientation
      • Secondary Control Configuration Register
    • 9.2.2.6. Output
      • Deadband Tolerance
      • Directional Gain Ratio
      • Invert Output Polarity
      • Output Bias
      • Output Deadband
      • Output Filter
      • Output Limit
      • Output Scale
      • Fault Input Polarity
      • Enable Output Behavior
      • Unidirectional Mode
      • Output Bits Configuration Register
      • Valve Linearization Type
      • Knee Command Voltage
      • Knee Flow Percentage
    • 9.2.2.7. Target
      • Positive Travel Limit
      • Negative Travel Limit
      • Positive Pressure/Force Limit
      • Negative Pressure/Force Limit
      • Requested Jerk
    • 9.2.2.8. Halts
      • Auto Stop Configuration
      • Halt Group Number
      • Closed Loop Halt Deceleration
      • Open Loop Halt Ramp
  • 9.2.3. Communication Registers
    • Ethernet Status
    • Ethernet Configuration Bits
    • Controlling Connection Status
    • Controlling PLC Status
    • PROFIBUS Connection Status
  • 9.2.4. Axis Definitions
    • Axis Definition Registers
  • 9.2.5. Task Registers
    • Task Status
    • Current Program
    • Current Step
    • 9.2.5.4. Current Axis
    • 9.2.5.5. Current Program/Step
  • 9.2.6. Controller Registers
    • Controller Tags
    • Controller Status
    • Loader Command
• 9.3. Address Formats
  • Address Formats Overview
  • DF1 Addressing
  • IEC-61131 Addressing
  • 9.3.4. FINS Addressing
  • 9.3.5. Modbus Addressing
• RMC70 Register Map
  • RMC70 Register Map
• 9.5. RMC150 Register Map
  • RMC150 Register Map
• Wiring Guidelines
• 10.2. RMC70
  • RMC70 Mounting Instructions
  • RMC75E Wiring
  • RMC75S Wiring
  • RMC75P Wiring
  • AA Wiring
  • MAx Wiring
  • QAx Wiring
  • A2 Wiring
  • AP2 Wiring
  • D8 Wiring
  • Q1 Wiring
• 10.3. RMC150
  • RMC150 Mounting Instructions
  • RMC150E CPU Module Wiring
  • 10.3.3. RMC150 Control Output (Drive) Wiring
  • RMC150 MDT Wiring
  • RMC150 SSI Wiring
  • RMC150 Quadrature Wiring
  • RMC150 Analog Input Wiring
  • RMC150 Resolver Wiring
  • RMC150 Discrete I/O Wiring
  • RMC150 UI/O Wiring
• Troubleshooting Overview
• 11.2. Error Codes
• Technical Support