Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 54
I36 Enable/Abort Separation Control
Range: 0 – 1
Units: none
Default: 0
I36 controls whether the abort commands in Turbo PMAC can also enable disabled motors, or whether
separate enable commands are required. If I36 is at the default value of 0, the abort commands
(coordinate-system-specific A and global <CTRL-A>) will enable a disabled motor, bringing it to a
closed-loop zero-velocity state. If I36 is set to 1, these commands will have no effect on a disabled
motor. In this case, separate commands (coordinate-system-specific E and global <CTRL-E>) will be
required to enable disabled motors.
Setting I36 to 1 permits simpler logic in implementing an emergency stop routine using the A or <CTRL-
A> commands, since the routine will not have to worry about the disabled-motor case.
Note that if the motor is a synchronous (zero-slip – Ixx78 = 0) motor commutated by Turbo PMAC
(Ixx01 bit 0 = 1), a phase referencing is required after power-up/reset before the motor can be enabled.
This is done automatically on power-up/reset if Ixx80 for the motor is set to 1 or 3, or subsequently with
the motor-specific $ command, or the coordinate-system-specific $$ command. These enabling
commands do not cause a phase referencing to be performed.
The following table shows the action of each of these commands with I36 = 0:
Command
Starting State:
Disabled
Starting State:
Open-Loop Enabled
Starting State:
Closed-Loop Enabled
A
Enable, close loop at
present position
Close loop at present
position
Decelerate to stop using
Ixx15
<CTRL-A>
Enable, close loop at
present position
Close loop at present
position
Decelerate to stop using
Ixx15
E
Enable, close loop at
present position
Close loop at present
position
(no action)
<CTRL-E>
Enable, close loop at
present position
Close loop at present
position
(no action)
The following table shows the action of each of these commands with I36 = 1:
Command
Starting State:
Disabled
Starting State:
Open-Loop Enabled
Starting State:
Closed-Loop Enabled
A
(no action)
Close loop at present
position
Decelerate to stop using
Ixx15
<CTRL-A>
(no action)
Close loop at present
position
Decelerate to stop using
Ixx15
E
Enable, close loop at
present position
Close loop at present
position
(no action)
<CTRL-E>
Enable, close loop at
present position
Close loop at present
position
(no action)