PMAC Quick Reference Guide
76
Appendix B – PMAC I-Variables Summary
Other Global I-Variables
Range
Default
Units
I47 Address Of Pointer For Control-W
Command
$0000 .. $FFFF
(0 .. 65,535)
$0
Legal PMAC Y addresses
I48 DPRAM Servo Data Enable
0 .. 1
0
None
I49 DPRAM Background Data Enable
0 .. 1
0
None
I50 RAPID Mode Control
0 .. 1
1
None
I51 Leadscrew Compensation Enable
0 .. 1
0
None
I52 Feed Hold Slew Rate
0 .. 8,388,607
37137
I10 units / segmentation period
I53 Program Step Mode Control
0 .. 1
0
None
I55 DPR Background Data buffer enable
0 .. 1
0
None
I56 DPRAM Communications Interrupt
Enable
0 .. 1
0
None
I57 DPRAM Binary Rotary Buffer Enable
0 .. 1
0
None
I58 DPRAM ASCII Communications
Enable
0 .. 1
0
None
I59 DPRAM Buffer Max Motor/CS
Number
0 .. 8
0
None
I60 Auto-Converted ADC Register Address
0, $FFD0 ..
$FFFE
0 PMAC
Y
addresses
I61 Number of Auto-Converted ADC pair
Registers
0 .. 7
0
Number of registers minus 1
I62 Internal Message Carriage Return
Control
0 .. 1
0
None
I63 Control-X Echo Enable
0 .. 1
0
None
I64 Internal Response Tag Enable
0 .. 1
0
None
I8x Motor x 3rd Resolver Gear Ratio
0 .. 4095
0
Second-resolver turns per third-
resolver turn
I89 Cutter Comp Outside Corner Break
Point
-1.0 -- 1.0
0.99848 (cos 1°) cos Dq
I90 Minimum
Arc
Angle
Non-negative
floating point
0 (sets 2-20)
Semi-circles (p radians; 180
degrees)
I9x Motor x 2nd Resolver Gear Ratio
0 .. 4095
0
Primary-resolver turns per
second-resolver turns
I99 Backlash Hysteresis
0 .. 8,388,607
64 (= 4 counts) 1/16 Count
Motor Definition I-Variables
Range
Default
Units
Ix00 Motor x Activate
0 .. 1
1 (for motor #1) None
Ix01 Motor x PMAC-Commutate Enable
0 .. 1
0
None
Ix02 Motor x DAC Address
PMAC addresses See Ix02 table Extended legal PMAC X and Y
addresses
Ix03 Motor x Position Address
PMAC X
addresses
See encoder
table
Extended legal PMAC X
addresses
Ix04 Motor x 'Velocity' Address
PMAC X
addresses
Same as Ix03 Legal PMAC X addresses
Ix05 Motor x Master Position Address
PMAC X
addresses
$073F
Legal PMAC X addresses
Ix06 Motor x Master Follow Enable
0 .. 1
0
None
Ix07 Motor x Master Scale Factor
-8,388,608 ..
8,388,607
96 None
Ix08 Motor x Position Scale Factor
0 .. 8,388,607
96
None
Ix09 Motor x Velocity Scale Factor
0 .. 8,388,607
96
None
Ix10 Motor x Power-on Servo Position
Address
PMAC addresses
$0
Extended PMAC or multiplexer-
port addresses
Summary of Contents for PMAC Mini
Page 4: ......
Page 8: ...PMAC Quick Reference Guide iv Table of Contents ...
Page 28: ...PMAC Quick Reference Guide 20 PMAC Executive Program PEWIN ...
Page 80: ...PMAC Quick Reference Guide 72 Troubleshooting ...
Page 82: ...PMAC Quick Reference Guide 74 Appendix A PMAC Error Code Summary ...
Page 88: ...PMAC Quick Reference Guide 80 Appendix B PMAC I Variables Summary ...
Page 106: ...PMAC Quick Reference Guide 98 Appendix F I O Suggested M Variable Definitions ...