Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 101
Ixx21 Motor xx Jog/Home S-Curve Time
Range: 0 - 8,388,607
Units: msec
Default: 50
Ixx21 establishes the time spent in each half of the S for S-curve acceleration in a jogging, homing, or
RAPID-mode move (starting, stopping, and changing speeds). If this parameter is more than half of
Ixx20, the total acceleration time will be 2 times Ixx21, and the acceleration time will be pure S-curve (no
constant acceleration portion). If the maximum acceleration rate set by Ixx20 and Ixx21 exceeds what is
permitted for the motor (Ixx19), the time will be increased so that Ixx19 is not exceeded.
Note:
Do not set both Ixx20 and Ixx21 to 0 simultaneously, even if relying on Ixx19 to
limit the acceleration, or a division-by-zero error will occur in the jog move
calculations, possibly resulting in erratic motion.
A change in this parameter will not take effect until the next move command. For instance, to have a
different deceleration time from acceleration time in a jog move, specify the acceleration time, command
the jog, change the deceleration time, then command the jog move again (e.g. J=), or at least the end of
the jog (J/).
Ixx22 Motor xx Jog Speed
Range: Positive Floating Point
Units: counts / msec
Default: 32.0
Ixx22 establishes the commanded speed of a jog move, or a programmed RAPID-mode move (if
Ixx90=0) for Motor xx. Direction of the jog move is controlled by the jog command.
A change in this parameter will not take effect until the next move command. For instance, to change the
jog speed on the fly, start the jog move, change this parameter, then issue a new jog command.
Ixx23 Motor xx Home Speed and Direction
Range: Floating Point
Units: counts / msec
Default: 32.0
Ixx23 establishes the commanded speed and direction of a homing-search move for Motor xx. Changing
the sign reverses the direction of the homing move -- a negative value specifies a home search in the
negative direction; a positive value specifies the positive direction.
Ixx24 Motor xx Flag Mode Control
Range: $000000 - $FFFFFF
Units: none
Default: $000000 (Turbo PMAC boards)
$000001 (non-Ultralite Turbo PMAC2 boards)
$840001 (Turbo PMAC2 Ultralite boards)
Ixx24 specifies how the flag information in the registers specified by Ixx25, Ixx42, and Ixx43 is used.
Ixx24 is a set of 24 individual control bits – bits 0 to 23. Currently bits 0 and 11 to 23 are used.
Note:
It is easier to specify this parameter in hexadecimal form. With I9 at 2 or 3, the
value of this variable will be reported back to the host in hexadecimal form.