Reference Manual

Turbo PMAC/PMAC2 Software Reference
Table of Contents viii
Ixx32 Motor xx PID Velocity Feedforward Gain .................................................................................. 112
Ixx33 Motor xx PID Integral Gain....................................................................................................... 112
Ixx34 Motor xx PID Integration Mode ................................................................................................. 113
Ixx35 Motor xx PID Acceleration Feedforward Gain ........................................................................... 113
Ixx36 Motor xx PID Notch Filter Coefficient N1 .................................................................................. 113
Ixx37 Motor xx PID Notch Filter Coefficient N2 .................................................................................. 114
Ixx38 Motor xx PID Notch Filter Coefficient D1.................................................................................. 114
Ixx39 Motor xx PID Notch Filter Coefficient D2.................................................................................. 114
Ixx40 Motor xx Net Desired Position Filter Gain ................................................................................. 114
Ixx41 Motor xx Desired Position Limit Band ....................................................................................... 115
Ixx42 Motor xx Amplifier Flag Address ............................................................................................... 115
Ixx43 Motor xx Overtravel-Limit Flag Address .................................................................................... 117
Ixx44 Motor xx MACRO Slave Command Address ............................................................................... 118
Motor Servo and Commutation Modifiers ........................................................................... 119
Ixx55 Motor xx Commutation Table Address Offset ............................................................................. 119
Ixx56 Motor xx Commutation Delay Compensation ............................................................................. 120
Ixx57 Motor xx Continuous Current Limit ........................................................................................... 120
Ixx58 Motor xx Integrated Current Limit ............................................................................................. 122
Ixx59 Motor xx User-Written Servo/Phase Enable ............................................................................... 123
Ixx60 Motor xx Servo Cycle Period Extension Period .......................................................................... 123
Ixx61 Motor xx Current-Loop Integral Gain ........................................................................................ 124
Ixx62 Motor xx Current-Loop Forward-Path Proportional Gain ......................................................... 124
Ixx63 Motor xx Integration Limit......................................................................................................... 124
Ixx64 Motor xx Deadband Gain Factor ............................................................................................... 125
Ixx65 Motor xx Deadband Size ............................................................................................................ 125
Ixx66 Motor xx PWM Scale Factor...................................................................................................... 126
Ixx67 Motor xx Position Error Limit ................................................................................................... 126
Ixx68 Motor xx Friction Feedforward ................................................................................................. 127
Ixx69 Motor xx Output Command Limit............................................................................................... 127
Motor Commutation Setup I-Variables ............................................................................... 129
Ixx70 Motor xx Number of Commutation Cycles (N) ............................................................................ 129
Ixx71 Motor xx Counts per N Commutation Cycles .............................................................................. 129
Ixx72 Motor xx Commutation Phase Angle .......................................................................................... 130
Ixx73 Motor xx Phase Finding Output Value ....................................................................................... 131
Ixx74 Motor xx Phase Finding Time .................................................................................................... 132
Ixx75 Motor xx Phase Position Offset .................................................................................................. 132
Ixx76 Motor xx Current-Loop Back-Path Proportional Gain ............................................................... 134
Ixx77 Motor xx Magnetization Current ................................................................................................ 134
Ixx78 Motor xx Slip Gain .................................................................................................................... 134
Ixx79 Motor xx Second Phase Offset ................................................................................................... 135
Ixx80 Motor xx Power-Up Mode ......................................................................................................... 136
Ixx81 Motor xx Power-On Phase Position Address .............................................................................. 137
Ixx82 Motor xx Current-Loop Feedback Address ................................................................................. 143
Ixx83 Motor xx Commutation Position Address ................................................................................... 145
Ixx84 Motor xx Current-Loop Feedback Mask Word ................................................................................ 147
Further Motor I-Variables .................................................................................................. 148
Ixx85 Motor xx Backlash Take-up Rate ............................................................................................... 148
Ixx86 Motor xx Backlash Size .............................................................................................................. 148
Ixx87 Motor xx Backlash Hysteresis .................................................................................................... 148
Ixx88 Motor xx In-Position Number of Scans ....................................................................................... 149
Ixx90 Motor xx Rapid Mode Speed Select ............................................................................................ 149