#x00688688 Robust Motion Products 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RMAxis RM_CEU RM_CEU 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Robust Motion RM_CEU RM_CEU 2000 9000 5000 200 100 2000 RMAxis 402 BIT 1 BIT8 8 SINT 8 INT 16 DINT 32 LINT 64 USINT 8 UINT 16 UDINT 32 ULINT 64 REAL 32 LREAL 64 DIRECT_MOTION 128 0 Target Position REAL 32 0 rw m 1 Target Velocity REAL 32 32 rw m 2 Target Acceleration REAL 32 64 rw m 3 Torque Limit REAL 32 96 rw m Force-Sensor 32 0 force-sensor-reading REAL 32 0 ro m STATE_OBSERVER 96 0 Current Position REAL 32 0 ro m 1 Current Velocity REAL 32 32 ro m CUSTOM-PARAM-D 128 0 d0 DINT 32 0 ro m 1 d1 DINT 32 32 ro m 2 d2 DINT 32 64 ro m 3 d3 DINT 32 96 ro m 4 d4 DINT 32 128 ro m CUSTOM-PARAM-B 64 0 B0 UINT 8 0 ro m 1 B1 USINT 8 8 ro m 2 B2 USINT 8 16 ro m 3 B3 USINT 8 24 ro m 4 B4 USINT 8 32 ro m 5 B5 USINT 8 40 ro m 6 B6 USINT 8 48 ro m 7 B7 USINT 8 56 ro m 8 B8 USINT 8 64 ro m CUSTOM-PARAM-F 96 0 f0 REAL 32 0 ro m 1 f1 REAL 32 32 ro m 2 f2 REAL 32 64 ro m VIRTUAL_IO_CONTROL 192 0 Command Start USINT 8 0 rw m 1 Command Stop USINT 8 8 rw m 2 Save Parameters USINT 8 16 rw m 3 Load Parameters USINT 8 24 rw m 4 Save Commands USINT 8 32 rw m 5 Load Commands USINT 8 40 rw m 6 Error Reset USINT 8 48 rw m 7 Servo On Off USINT 8 56 rw m 8 Command Pulse Enable USINT 8 64 rw m 9 Hardware Io Enable USINT 8 72 rw m 10 Load Trace USINT 8 80 rw m 11 Monitor Full USINT 8 88 rw m 12 Monitor Start USINT 8 96 rw m 13 In Position USINT 8 104 rw m 14 Error Alarm USINT 8 112 rw m 15 reset force USINT 8 120 rw m 16 restart USINT 8 128 rw m 17 command_auto_clear USINT 8 136 rw m 18 go_home USINT 8 144 rw m 19 position_deviation_overflow USINT 8 152 rw m 20 velocity_deviation_overflow USINT 8 160 rw m 21 motor_stuck USINT 8 168 rw m 27 gone_home USINT 8 176 rw m 28 align directmotion USINT 8 184 rw m VIRTUAL_IO_COMMAND_ARR USINT 256 1 32 VIRTUAL_IO_CONTROL_start 88 0 Start_0 USINT 8 0 rw m 1 Start_1 USINT 8 8 rw m 2 Start_2 USINT 8 16 rw m 3 Start_3 USINT 8 24 rw m 4 Start_4 USINT 8 32 rw m 5 Start_5 USINT 8 40 rw m 6 Start_6 USINT 8 48 rw m 7 Start_7 USINT 8 56 rw m 8 Start_8 USINT 8 64 rw m 9 Start_9 USINT 8 72 rw m 10 Start_10 USINT 8 80 rw m VIRTUAL_IO_CONTROL Finished 88 0 finished_0 USINT 8 0 rw m 1 finished_1 USINT 8 8 rw m 2 finished_2 USINT 8 16 rw m 3 finished_3 USINT 8 24 rw m 4 finished_4 USINT 8 32 rw m 5 finished_5 USINT 8 40 rw m 6 finished_6 USINT 8 48 rw m 7 finished_7 USINT 8 56 rw m 8 finished_8 USINT 8 64 rw m 9 finished_9 USINT 8 72 rw m 10 finished_10 USINT 8 80 rw m VIRTUAL_IO_COMMAND_START 256 Value VIRTUAL_IO_COMMAND_ARR 256 0 VIRTUAL_IO_COMMAND_FINISHED 256 Value VIRTUAL_IO_COMMAND_ARR 256 0 SOFTWARE_POSITION_LIMIT_ARR DINT 64 1 2 SOFTWARE_POSITION_LIMIT 80 0 Number of Entries USINT 8 0 ro Elements SOFTWARE_POSITION_LIMIT_ARR 64 16 HOMING_SPEEDS_ARR UDINT 64 1 2 HOMING_SPEEDS 80 0 Number of Entries USINT 8 0 ro Elements HOMING_SPEEDS_ARR 64 16 #x1000 Device type UDINT 32 ro m #x2018 force-sensor Force-Sensor 32 ro m #x2009 State Observer STATE_OBSERVER 96 ro m #x201E Custom-param-d CUSTOM-PARAM-D 128 ro m #x2020 Custom-param-b CUSTOM-PARAM-B 64 ro m #x201F Custom-param-f CUSTOM-PARAM-F 96 ro m #x200A Virtual Io Control VIRTUAL_IO_CONTROL 192 rw m #x200B Virtual Io Command Start VIRTUAL_IO_CONTROL_start 88 rw m #x200C Virtual Io Command Finished VIRTUAL_IO_CONTROL Finished 88 rw m #x2017 Direct Motion DIRECT_MOTION 128 rw m #x2021 Virtual Io In Position Range DINT 32 rw m #x603f ErrorCode UINT 16 #x0 ro t #x6040 Controlword UINT 16 rw r #x6041 Statusword UINT 16 ro t #x605b Shutdown Option Code INT 16 #xffff rw #x605c Disable Operation Option Code INT 16 #xffff rw #x605d Halt Option Code INT 16 #x1 rw #x605e Fault Reaction Option Code INT 16 #xffff rw #x6060 Modes of Operation SINT 8 rw r #x6061 Modes of Operation Display SINT 8 ro t #x6062 Position Demand Value DINT 32 #x0 ro #x6064 Position Actual Value DINT 32 #x0 ro t #x6065 Following Error Window UDINT 32 #x1 rw r #x6066 Following Error Time Out UINT 16 #x0 rw #x6067 Position Window UDINT 32 #x0 rw r #x6068 Position Window Time UINT 16 #xa rw #x606c Velocity Actual Value DINT 32 #x0 ro t #x6071 Target Torque INT 16 #x0 rw r #x607A Target Position DINT 32 #x0 rw r #x607c Home Offset DINT 32 #x0 rw #x607d Software position limit SOFTWARE_POSITION_LIMIT 80 Number of Entries #x2 Sub-Index 1 #x0 Sub-Index 2 #x0 #x6081 Profile Velocity in Profile Position Mode UDINT 32 #x0 rw r #x6083 Profile Acceleration UDINT 32 #x1 rw r #x6084 Profile Deceleration UDINT 32 #x1 rw r #x6085 Quick Stop Deceleration UDINT 32 #x1 rw #x6087 Torque Slope UDINT 32 #x186a0 rw r #x6098 Homing Method SINT 8 #x1 rw #x6099 Homing Speeds HOMING_SPEEDS 80 Number of Entries #x2 Sub-Index 1 #x1 Sub-Index 2 #x0 #x60f4 Following Error Actual Value DINT 32 #x0 ro t #x6502 Supported Drive Modes UDINT 32 ro Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 RxPdo0 #x201F 0 32 F0 REAL #x201F 1 32 F1 REAL #x201F 2 32 F2 REAL #x201E 0 32 D0 DINT #x2020 0 8 B0 USINT #x2020 1 8 B1 USINT #x2020 2 8 B2 USINT #x2020 3 8 B3 USINT #x1601 RxPdo1 #x2017 0 32 Direct motion.position REAL #x2017 1 32 Direct motion.speed REAL #x2017 2 32 Direct motion.acceleration REAL #x2017 3 32 Direct motion.torque REAL #x1602 RxPdo2 #x200B 0 8 START_0 USINT #x200B 1 8 START_1 USINT #x200B 2 8 START_2 USINT #x200B 3 8 START_3 USINT #x200B 4 8 START_4 USINT #x201E 1 32 D1 DINT #x201E 2 32 D2 DINT #x1603 RxPdo3 #x200A 1 8 Command_Stop USINT #x200A 15 8 Reset_force USINT #x200A 18 8 Go_Home USINT #x200A 6 8 Reset_Error USINT #x200A 7 8 Servo_on_off USINT #x1604 RxPdo4 #x1a00 TxPdo0 #x1a01 TxPdo1 #x2009 0 32 State observer.position REAL #x2009 1 32 Tate observer.velocty REAL #x2001 9 32 Driver control.torque REAL #x2018 0 32 Force sensor.reading REAL #x1a02 TxPdo2 #x200C 0 8 finished_0 USINT #x200C 1 8 finished_1 USINT #x200C 2 8 finished_2 USINT #x200C 3 8 finished_3 USINT #x200C 4 8 finished_4 USINT #x2020 4 8 B4 USINT #x2020 5 8 B5 USINT #x2020 6 8 B6 USINT #x1a03 TxPdo3 #x200A 19 8 Position_deviation_overflow USINT #x200A 20 8 Velocity_deviation_overflow USINT #x200A 21 8 Motor_stuck USINT #x200A 14 8 Error Alarm USINT #x200A 27 8 Gone_home USINT PS #x6060 0 08 Modes of Operation Synchron SM-Synchron #x0 0 0 0 DC DC-Synchron #x300 0 0 0 2048 050603440a00000000001a007fff 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