Reference Manual

Turbo PMAC/PMAC2 Software Reference
Table of Contents ix
Ixx91 Motor xx Power-On Phase Position Format ............................................................................... 149
Ixx92 Motor xx Jog Move Calculation Time ........................................................................................ 152
Ixx95 Motor xx Power-On Servo Position Format ............................................................................... 152
Ixx96 Motor xx Command Output Mode Control ................................................................................. 156
Ixx97 Motor xx Position Capture & Trigger Mode............................................................................... 157
Ixx98 Motor xx Third-Resolver Gear Ratio .......................................................................................... 157
Ixx99 Motor xx Second-Resolver Gear Ratio ....................................................................................... 158
Supplemental Motor Setup I-Variables ............................................................................... 159
Iyy00/50 Motor xx Extended Servo Algorithm Enable ........................................................................... 159
Iyy10 – Iyy39/Iyy60 – Iyy89 Motor xx Extended Servo Algorithm Gains ................................................ 160
System Configuration Reporting ............................................................................................. 161
I4900 Servo ICs Present ...................................................................................................................... 161
I4901 Servo IC Type ............................................................................................................................ 161
I4902 MACRO ICs Present.................................................................................................................. 162
I4903 MACRO IC Types ...................................................................................................................... 162
I4904 Dual-Ported RAM ICs Present ................................................................................................... 163
I4908 End of Open Memory................................................................................................................. 164
I4909 Turbo CPU ID Configuration .................................................................................................... 164
I4910 – I4925 Servo IC Card Identification .......................................................................................... 165
I4926 – I4941 MACRO IC Card Identification ...................................................................................... 167
I4942 – I4949 DPRAM IC Card Identification ...................................................................................... 168
I4950 – I4965 I/O IC Card Identification .............................................................................................. 169
Data Gathering I-Variables ...................................................................................................... 170
I5000 Data Gathering Buffer Location and Mode ............................................................................... 170
I5001 – I5048 Data Gathering Source 1-48 Address ............................................................................. 170
I5049 Data Gathering Period .............................................................................................................. 171
I5050 Data Gathering Selection Mask 1 .............................................................................................. 171
I5051 Data Gathering Selection Mask 2 .............................................................................................. 171
A/D Processing Table I-Variables ........................................................................................... 172
I5060 A/D Processing Ring Size .......................................................................................................... 172
I5061-I5076 A/D Ring Slot Pointers ..................................................................................................... 173
I5080 A/D Ring Convert Enable ......................................................................................................... 174
I5081-I5096 A/D Ring Convert Codes................................................................................................... 174
Coordinate System I-Variables ................................................................................................ 175
Isx11 Coordinate System ‘x’ User Countdown Timer 1 ........................................................................ 176
Isx12 Coordinate System x User Countdown Timer 2 .......................................................................... 176
Isx13 Coordinate System x Segmentation Time .................................................................................... 177
Isx14 Coordinate System ‘x’ End-of-Move Anticipation Time .............................................................. 178
Isx15 Coordinate System ‘x’ Segmentation Override ........................................................................... 178
Isx16 Coordinate System ‘x’ Segmentation Override Slew ................................................................... 179
Isx20 Coordinate System x Lookahead Length ..................................................................................... 180
Isx21 Coordinate System x Lookahead State Control ........................................................................... 181
Isx50 Coordinate System x Kinematic Calculations Enable ................................................................. 181
Isx53 Coordinate System x Step Mode Control .................................................................................... 182
Isx78 Coordinate System ‘x’ Maximum Circle Acceleration ................................................................. 182
Isx79 Coordinate System ‘x’ Rapid Move Mode Control ...................................................................... 183
Isx81 Coordinate System ‘x’ Blend Disable In-Position Time-Out ....................................................... 184
Isx82 Coordinate System ‘x’ Blend Disable Dwell Time ...................................................................... 184
Isx83 Coordinate System ‘x’ Corner Blend Break Point ....................................................................... 185
Isx84 Coordinate System ‘x’ Outside Corner Stop Point Control ......................................................... 186