Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 43
On Turbo PMAC, the servo interrupt time is determined by the settings of hardware jumpers E98, E29-
E33, and E3-E6. The proper value of I10 can be determined from the settings of these jumpers by the
formula:
rFactorServoJumpe*rFactorPhaseJumpe*orJumperFact98E*107,23210I 
where the factors can be taken from the following:
E98 Setting
1-2
2-3
E98JumperFactor
1
2
Phase Jumper ON
E29
E30
E31
E32
E33
Phase Jumper Factor
16
8
4
2
1
)6E*8()5E*4()4E*2(3E1rFactorServoJumpe 
in which En = 0 if the jumper is ON, and En = 1 if the jumper is OFF.
On Turbo PMAC2, the servo interrupt time is determined on PMAC2 Ultralite boards by MACRO IC 0 I-
variables I6800, I6801, and I6802; on non-Ultralite boards by Servo IC 0 I-variables I7000, I7001, and
I7002; on UMAC Turbo systems by Servo IC m I-variables I7m00, I7m01, and I7m02, or MACRO IC 0
I-variables I6800, I6801, or I6802. The proper setting of I10 can be determined from Servo IC variables
by the formula:
   
102m7I101m7I300m7I*2
9
640
10I 
The proper setting of I10 can be determined from MACRO IC 0 variables by the formula:
   
16802I16801I36800I*2
9
640
10I 
When changing I10, a %100 command must be issued, or the value saved and the controller reset, before
the new value of I10 will take effect.
I10 is used to provide the delta-time value in the position update calculations, scaled such that 2
23
–
8,388,608 – means one millisecond. Delta-time in these equations is I10*(%value/100). The % (feedrate
override) value can be controlled in any of several ways: with the on-line ‘%’ command, with a direct
write to the command ‘%’ register, with an analog voltage input, or with a digital input frequency. The
default % value is 100, and many applications can always leave it at 100.
I11 Programmed Move Calculation Time
Range: 0 to 8,388,607
Units: msec
Default: 0
I11 controls the delay from when the run signal is taken (or the move sent if executing immediately) and
when the first programmed move starts. If several Turbo PMACs need to be run synchronously, I11
should be set the same on all of the cards. If I11 is set to zero, the first programmed move starts as soon
as the calculation is complete.
This calculation time delay is also used after any break in the continuous motion of a motion program: a
DWELL, a PSET, a WAIT, or each move if Ix92=1 (a DELAY is technically a zero-distance move, and so
does not constitute a break).
The actual delay time varies with the time base (e.g. at a value of 50, the actual delay time will be twice
the number defined here), which keeps it as a fixed distance of the master in an external time base
application. If it is desired to have the slave coordinate system start up immediately with the master, I11
should be set to zero, and the program commanded to run before the master starts to move.