Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 160
Note:
These I-variables are disabled if Iyy00/50 for the motor is set to 0. No value can
be written to them, and if queried, they will report a value of 0.
The following servo control I-variables are used regardless of the setting of Iyy00/50:
Ixx59, Ixx60, Ixx68, Ixx69
Iyy10 – Iyy39/Iyy60 – Iyy89 Motor xx Extended Servo Algorithm Gains
Iyy10 through Iyy39 (for odd-numbered motors), and Iyy60 through Iyy89 (for even-numbered motors)
are the gains for the Extended Servo Algorithm (ESA). The following table lists the function of each
variable; refer to the User Manual for a detailed description and diagram of the algorithm structure.
I-Var. for
Odd-
Numbered
Motors
I-Var. for
Even-
Numbered
Motors
Gain
Name
Range
I-Var. for
Odd-
Numbered
Motors
I-Var. for
Even-
Numbered
Motors
Gain
Name
Range
Iyy10
Iyy60
s0
-1.0Var+1.0
Iyy25
Iyy75
TS
-2
23
Var2
23
Iyy11
Iyy61
s1
-1.0Var+1.0
Iyy26
Iyy76
L1
-1.0Var+1.0
Iyy12
Iyy62
f0
-1.0Var+1.0
Iyy27
Iyy77
L2
-1.0Var+1.0
Iyy13
Iyy63
f1
-1.0Var+1.0
Iyy28
Iyy78
L3
-1.0Var+1.0
Iyy14
Iyy64
h0
-1.0Var+1.0
Iyy29
Iyy79
k0
-1.0Var+1.0
Iyy15
Iyy65
h1
-1.0Var+1.0
Iyy30
Iyy80
k1
-1.0Var+1.0
Iyy16
Iyy66
r1
-1.0Var+1.0
Iyy31
Iyy81
k2
-1.0Var+1.0
Iyy17
Iyy67
r2
-1.0Var+1.0
Iyy32
Iyy82
k3
-1.0Var+1.0
Iyy18
Iyy68
r3
-1.0Var+1.0
Iyy33
Iyy83
KS
-2
23
Var2
23
Iyy19
Iyy69
r4
-1.0Var+1.0
Iyy34
Iyy84
d1
-1.0Var+1.0
Iyy20
Iyy70
t0
-1.0Var+1.0
Iyy35
Iyy85
d2
-1.0Var+1.0
Iyy21
Iyy71
t1
-1.0Var+1.0
Iyy36
Iyy86
g0
-1.0Var+1.0
Iyy22
Iyy72
t2
-1.0Var+1.0
Iyy37
Iyy87
g1
-1.0Var+1.0
Iyy23
Iyy73
t3
-1.0Var+1.0
Iyy38
Iyy88
g2
-1.0Var+1.0
Iyy24
Iyy74
t4
-1.0Var+1.0
Iyy39
Iyy89
GS
-2
23
Var2
23
Usually, the ESA gains that these I-variables represent are set using the Auto-tuning function of the Servo
Evaluation Package (SEP).
Note:
These I-variables are disabled if Iyy00/50 for the motor is set to 0. No value can
be written to them, and if queried, they will report a value of 0.