Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 114
Ixx36 is not used if Iyy00/50 for the motor has been set to 1 to enable the Extended Servo Algorithm
(ESA) for the motor.
Ixx37 Motor xx PID Notch Filter Coefficient N2
Range: -2.0 - 2.0
Units: none (unit-less z-transform coefficient)
Default: 0.0
Ixx37 is part of the notch filter for Motor xx. See Ixx36 and the Servo Loop Features section of the
manual for details.
Usually, this parameter is set initially using the Tuning utility in the PMAC Executive Program. It may
be changed on the fly at any time to create types of adaptive control.
Ixx37 is not used if Iyy00/50 for the motor has been set to 1 to enable the Extended Servo Algorithm
(ESA) for the motor.
Ixx38 Motor xx PID Notch Filter Coefficient D1
Range: -2.0 - 2.0
Units: none (unit-less z-transform coefficient)
Default: 0.0
Ixx38 is part of the “notch filter” for Motor xx. See Ixx36 and the Servo Loop Features section of the
manual for details.
Usually, this parameter is set initially using the Tuning utility in the PMAC Executive Program. It may
be changed on the fly at any time to create types of adaptive control.
Ixx38 is not used if Iyy00/50 for the motor has been set to 1 to enable the Extended Servo Algorithm
(ESA) for the motor.
Ixx39 Motor xx PID Notch Filter Coefficient D2
Range: -2.0 - 2.0
Units: none (unit-less z-transform coefficient)
Default: 0.0
Ixx39 is part of the notch filter for Motor xx. See Ixx36 and the Servo Loop Features section of the
manual for details.
Usually, this parameter is set initially using the Tuning utility in the PMAC Executive Program. It may
be changed on the fly at any time to create types of adaptive control.
Ixx39 is not used if Iyy00/50 for the motor has been set to 1 to enable the Extended Servo Algorithm
(ESA) for the motor.
Ixx40 Motor xx Net Desired Position Filter Gain
Range: 0.0 – 0.999999
Units: none
Default: 0.0
Ixx40 permits the introduction of a first-order low-pass filter on the net desired position for Motor xx.
This can be useful to smooth motion that comes from a “rough” source, such as master following from a
noisy sensor, or quantization error in very closely spaced programmed points that are commonly found in
lookahead applications.
If Ixx40 is set to its default value of 0.0, this filter function is disabled. If Ixx40 is set to any value greater
than 0.0, the filter is enabled.
Ixx40 can be expressed in terms of the filter time constant by the following equation: