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Table of Contents
Resolver (R) Module (RMC150) ...................................................................................................................... 663
Resolver (RW) Module (RMC150) ................................................................................................................... 665
DI/O Module ........................................................................................................................................667
DI/O Module (RMC150)................................................................................................................................... 667
UI/O Module ........................................................................................................................................668
UI/O Module (RMC150)................................................................................................................................... 668
Configuring UI/O High-Speed Channels .......................................................................................................... 672
PROFIBUS Module .............................................................................................................................674
PROFIBUS Module (RMC150) ........................................................................................................................ 674
General ................................................................................................................ 675
Control Output......................................................................................................................................675
Enable Output .......................................................................................................................................676
Fault Input ............................................................................................................................................678
Accessories .......................................................................................................... 679
VC2124 and VC2100 Voltage-to-Current Converters .........................................................................679
Quadrature Cable ..................................................................................................................................682
Agency Compliance .............................................................................................. 684
Command Reference ................................................................................ 685
RMC Commands Overview .................................................................................... 685
RMC Commands ................................................................................................... 686
General Commands .............................................................................................. 690
Command: No-op (0) ...........................................................................................................................690
Command: Clear Faults (4) ..................................................................................................................690
Command: Enable Controller (7) .........................................................................................................691
Command: Fault Controller (8) ............................................................................................................692
Command: Set Enable Output (67) ......................................................................................................692
Command: Enable/Disable Axis (97) ...................................................................................................693
Command: RUN Mode (98) .................................................................................................................693
Command: PROGRAM Mode (99)......................................................................................................694
Motion Commands ............................................................................................... 694
Motion Commands ...............................................................................................................................694
Stops .....................................................................................................................................................695
Command: Stop (Closed Loop) (6) ................................................................................................................... 695
Command: Stop (Open Loop) (22) ................................................................................................................... 697
Command: Hold Current Position (5) ............................................................................................................... 698
Command: Closed Loop Halt (1) ...................................................................................................................... 699
Command: Open Loop Halt (2) ........................................................................................................................ 699
Command: Direct Output Halt (3) .................................................................................................................... 700
Open Loop ............................................................................................................................................701
Command: Direct Output (9) ............................................................................................................................ 701
Command: Open Loop Rate (10) ...................................................................................................................... 702
Command: Open Loop Absolute (11) ............................................................................................................... 703
Command: Open Loop Relative (12) ................................................................................................................ 705
Synchronized ........................................................................................................................................706
Command: Sync Move Absolute (13) ............................................................................................................... 706
Command: Sync Move Relative (14) ................................................................................................................ 708
Command: Sync Stop (17) ................................................................................................................................ 710
Point-to-Point .......................................................................................................................................711
Command: Move Absolute (20) ........................................................................................................................ 711
Command: Move Relative (21) ......................................................................................................................... 713
Command: Quick Move Absolute (15) ............................................................................................................. 715
Command: Quick Move Relative (16) .............................................................................................................. 717
Command: Time Move Absolute (23) .............................................................................................................. 718
Command: Time Move Relative (24) ............................................................................................................... 719
Command: Advanced Time Move Absolute (26) ............................................................................................. 720
Command: Advanced Time Move Relative (27) .............................................................................................. 722
Command: Move Absolute (I-PD) (28) ............................................................................................................ 723
Command: Move Relative (I-PD) (29) ............................................................................................................. 724
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