PMAC Quick Reference Guide
78
Appendix B – PMAC I-Variables Summary
Motor Servo Loop Modifiers
Range
Default
Units
Ix57 Motor x Continuous Current Limit
0 .. 32,767
0
Bits of a 16-bit DAC
Ix58 Motor x Integrated Current Limit
0 .. 8,388,607
0
230 (DAC bits)2 * servo cycles
Ix59 Motor x User Written Servo
Enable
0 .. 3
0
None
Ix60 Motor x Servo Cycle Period
Extension
0 .. 255
0
Servo Interrupt Periods
Ix63 Motor x Integration Limit
-8,388,608 ..
8,388,607
4194304 1/16
count
Ix64 Motor x 'Deadband Gain'
-32,768 .. 32,767
0 (no
deadband)
None
Ix65 Motor x Deadband Size
0 .. 32,767
16 (=1 count) 1/16 count
Ix67 Motor x Position Error Limit
0 .. 8,388,607
4,194,304
1/16 count
Ix68 Motor x Friction Feedforward
-32,768 .. 32,767
0
DAC bits
Ix69 Motor x DAC Limit
0 .. 32,767
20,480
(~6.25V)
DAC bits
Commutation I-Variables
Range
Default
Units
Ix70 Motor x Number of Commutation
Cycles
0 .. 255
1
Commutation cycles
Ix71 Motor x Counts/N Commutation
Cycles
0 .. 8,388,607
1000
Counts
Ix72 Motor x Commutation Phase
Angle
0 .. 255
85 (=120° e) 360/256 elec. deg. (1/256
commutation cycle)
Ix73 Motor x Phase Finding Value
0 .. 32,767
0
bits of 16-bit DAC
Ix74 Motor x Phase Finding Time
0 .. 255
0
Servo Interrupt Cycles (for Ix80 = 0
or 1)
Servo Interrupt Cycles*256 (for
Ix80 = 2 or 3)
Ix75 Motor x Power-On Phase Position
Offset
-8,388,608 --
8,388,607
0
Encoder counts * Ix70
Ix76 Motor x Velocity Phase Advance
Gain
0 .. 8,388,607
0
Angle/Vel
Ix77 Motor x Magnetization Current
-32,768 .. 32,767
0
DAC bits
Ix78 Motor x Slip Gain
0 .. 8,388,607
0
238 (electrical cycles/update)/DAC
bit
Ix79 Motor x 2nd Phase DAC Bias
-32,768 .. 32,767
0
DAC bits
Ix80 Motor x Power On Mode
0 .. 3
0
none
Ix81 Motor x Power-On Phase Position
Address
PMAC addresses
$0
Extended PMAC or multiplexer-port
addresses
Ix83 Motor x Ongoing Position
Address
PMAC addresses see Ix83 table Legal PMAC 'X' and 'Y' addresses
Further Motor I-Variables
Range
Default
Units
Ix85 Motor x Backlash Takeup Rate
0 .. 8,388,607
0
(1/16 Counts) / Background Cycle
Ix86 Motor x Backlash Size
0 .. 8,388,607
0
1/16 Count
Содержание PMAC Mini
Страница 4: ......
Страница 8: ...PMAC Quick Reference Guide iv Table of Contents ...
Страница 28: ...PMAC Quick Reference Guide 20 PMAC Executive Program PEWIN ...
Страница 80: ...PMAC Quick Reference Guide 72 Troubleshooting ...
Страница 82: ...PMAC Quick Reference Guide 74 Appendix A PMAC Error Code Summary ...
Страница 88: ...PMAC Quick Reference Guide 80 Appendix B PMAC I Variables Summary ...
Страница 106: ...PMAC Quick Reference Guide 98 Appendix F I O Suggested M Variable Definitions ...