PMAC Quick Reference Guide
40
Programming PMAC
PMAC Position Registers
The PMAC Executive position window or the online command
P
reports the value of the actual position
register plus the position bias register plus the compensation correction register and if bit 16 of Ix05 is 1
(handwheel offset mode) minus the master position register:
M175->X:$002A,16,1
; Bit 16 of I105
M162->D:$002B
; #1 Actual position (1/[Ix08*32] cts)
M164->D:$0813
; #1 Position bias (1/[Ix08*32] cts)
M167->D:$002D
; #1 Present master ((handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M169->D:$0046
; #1 Compensation correction
32
*
I108
M167)
*
M175
M169
M164
(M162
P100
−
+
+
=
P100 will report the same value as the online command
P
or the position window in the PMAC Executive
program.
The addresses given are for Motor #1. For the registers for another motor x add (x-1)*
$3C
– (x-1)*60 –
to the appropriate motor #1 address.)
M161->D:$0028
; #1 Commanded position (1/[Ix08*32] cts)
The motor commanded position registers contain the value in counts where the motor is commanded to
move. It is set through
JOG
online commands or axis move commands (
X10
) inside motion programs.
To read this register in counts:
P161 = M161 / (I108*32)
M162->D:$002B
; #1 Actual position (1/[Ix08*32] cts)
The actual position register contains the information read from the feedback sensor after it has been
converted properly through the encoder conversion table and extended from a 24-bits register to a 48-bits
register.
To read this register in counts:
P162 = M162 / (I108*32)
M163->D:$080B
; #1 Target (end) position (1/[Ix08*32] cts)
This register contains the most recent programmed position and it is called the target position register. If
I13>0, PMAC is in segmentation mode and the value of M163 corresponds to the last interpolated point
calculated.
To read this register in counts:
P163 = M163 / (I108*32)
M164->D:$0813
; #1 Position bias (1/[Ix08*32] cts)
•
This register contains the offset specified in the axis definition command
#1->X + <offset>
.
•
The online command
{axis}={constant}
or the motion program command
PSET
adds the
specified offset to the existing M164 offset:
M164 = M164 + <new_offset>
.
To read this register in counts:
P164 = M164 / (I108*32)
M165->L:$081F
; &1 X-axis target position (engineering units)
M165 contains the programmed axis position through a motion program,
X10
for example, in engineering
units. It also gets updated by the online command “
{axis}={constant}
”
or the motion program
command
PSET
.
M166->X:$0033,0,24,S
; #1 Actual velocity (1/[Ix09*32] cts/cyc)
M166 is the actual velocity register. For display purposes use the Motor filtered actual velocity, M174.
To read this register in cts/msec:
P166 = M166 * 8388608 / (I109 * 32 * I10 * (I160+1))
M167->D:$002D
; #1 Present master ((handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
Содержание PMAC Mini
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Страница 88: ...PMAC Quick Reference Guide 80 Appendix B PMAC I Variables Summary ...
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