Reference Manual

Turbo PMAC/PMAC2 Software Reference
Change Summary: PMAC to Turbo PMAC 743
I-Variable Changes
PMAC/PMAC2
Turbo PMAC/PMAC2
Ix00 – Ix86 (x = 1 to 8) Motor I-Variables
Ixx00 – Ixx99 (xx = 1 to 32) Motor I-Variables
Ix30 – Ix58 (x = 1 to 8) Option 6 Extended Servo
Algorithm Gains
Iyy10 – Iyy39 (xx = 2*[yy-32]-1) for odd-numbered
motors;
Iyy60 – Iyy89 (xx = 2*[yy-32]) for even-numbered
motors:
Extended Servo Algorithm Gains (Standard)
Ix87 – Ix99 (x = 1 to 8) Coordinate System I-
Variables
I5x00 – I5x99 (x = 1 to 9) Coordinate System I-
Variables
I6y00 – I6y99 (y = x – 10; x = 10 to 16) C.S. I-
Variables
I900 – I904, I905 – I909, … I975 – I979 PMAC
Encoder Setup I-Variables
I7mn0 – I7mn4 (m = 0 to 9, n = 1 to 4) PMAC
Servo IC m Channel n Encoder Setup I-Variables
I900 – I909 PMAC2 Multi-Channel Hardware
Setup I-Variables
I7m00 – I7m05 (m = 0 to 9) Servo IC m Multi-
Channel Hardware Setup I-Variables
I9n0 – I9n9 (n = 1 to 8) PMAC2 Channel n
Hardware Setup I-Variables
I7mn0 – I7mn9 (m = 0 to 9, n = 1 to 4) PMAC2
Servo IC m Channel n Hardware Setup I-Variables
I990 – I999 MACRO & Supplemental Channel
Hardware Setup I-Variables
I6800 – I6849 MACRO IC 0 Hardware Setup I-
Variables
I1000 – I1005 MACRO Software Setup I-Variables
I70 – I82 MACRO Software Setup I-Variables
X/Y:$0700 - $0701 User Countdown Timers
Isx11, Isx12 Coordinate System Countdown Timers
Y:$0720 – Y:$073F Encoder Conversion Table
Setup
I8000 – I8191 Encoder Conversion Table Setup
X:$0783 – X:$078C VME/DPRAM Setup
I90 – I99 VME/DPRAM Setup
I7 In-Position Number of Cycles (Global)
Ixx88 Motor xx In-Position Number of Cycles
I12 Jog Calculation Time (Global)
Ixx92 Motor xx Jog Calculation Time
I13 Move Segmentation Time (Global)
Isx13 Coord. Sys. x Move Segmentation Time
I14 Auto Position Match on Run (Global)
No I-variable – function always active
I19 Data Gathering Period
I47 DPRAM Servo Data Reporting Period
I5049 Data Gathering Period
I20 Data Gathering Mask
I5050, I5051 Data Gathering Masks
I21-I44 Data Gathering Source Addresses
I5001-I5048 Data Gathering Source Addresses
I45 Data Gathering Buffer Location and Mode
I5000 Data Gathering Buffer Location and Mode
I47 Pointer Address for <CTRL-W> Command
No I-variable – function not used
I50 Rapid Speed Select (Global)
Ixx90 Motor xx Rapid Speed Select
I52 ‘\’ Program Hold Slew Rate (Global)
No program hold: ‘\’ is “quick stop” within
lookahead, using Ixx17; “feed hold” out of
lookahead, using Ix95
I53 Single Step Mode (Global)
Isx53 Coord. Sys. x Single Step Move
I57 DPRAM Binary Rotary Buffer Enable
On-line command OPEN BIN ROT
I59 DPRAM Buffer Max. Motor/C.S. Number
DPRAM Motor Enable Mask Word
DPRAM Maximum C.S. Transfer Number
I60, I61 [PMAC] or X:$0708 – X:$070F [PMAC2]
A/D Processing Table Setup
I5060 – I5096 A/D Processing Table Setup
I8x Motor x third Resolver Gear Ratio
Ixx98 Motor xx third Resolver Gear Ratio
I89 Cutter Comp Outside Corner Break Angle
(Global)
Isx99 Coordinate System x Cutter Comp Outside
Corner Break Angle
I90 Minimum Arc Length (Global)
Isx97 Coordinate System x Minimum Arc Length
I9x Motor x second Resolver Gear Ratio / Yaskawa
Absolute Encoder Ratio
Ixx99 Motor xx second Resolver Gear Ratio /
Yaskawa Absolute Encoder Ratio
I99 Backlash Hysteresis (Global)
Ixx87 Motor xx Backlash Hysteresis