Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 61
Reporting this data as a high-priority foreground task permits a reliable high-frequency transfer of motor
data to the host, but it can have a significant impact on the capabilities of lower priority tasks, such as
motion program trajectory calculations, and PLCs.
When I48=0, the DPRAM motor data reporting function in foreground is disabled.
If I57 is set to 1 to enable DPRAM reporting of the motor registers as a background task, Turbo PMAC
automatically sets I48 to 0 to disable the foreground reporting.
Refer to the description of DPRAM functions for more information.
I49 DPRAM Background Data Reporting Enable
Range: 0 to 1
Units: None
Default: 0
I49 enables or disables the dual-ported RAM (DPRAM) background data reporting function. When
I49=1, PMAC copies key data from coordinate-system and global data registers to fixed registers in the
DPRAM approximately every I50 servo cycles (or on demand if I50=0) for easy access by the host
computer. The data for coordinate systems up to the number specified by a designated register in
DPRAM are reported.
When I49=0, the DPRAM background data reporting function is disabled.
Refer to the description of DPRAM functions for more information.
I50 DPRAM Background Data Reporting Period
Range: 0 to 255
Units: Servo Cycles
Default: 0
I50 specifies the minimum period, in servo cycles, that Turbo PMAC will copy data from coordinate-
system and global data registers into fixed registers in DPRAM for easy access by the host computer, if
this function has been enabled by setting I49 to 1. In addition, if I57 is set to 1, I50 specifies the
minimum period that Turbo PMAC will copy motor data registers into DPRAM. If I49 and/or I57, and
I50 are greater than 0, then each background cycle, Turbo PMAC will check to see if at least I50 servo
cycles have elapsed since the last reporting; if this is so, it will copy the current data into DPRAM. The
data for coordinate systems up to the number specified by a designate register in DPRAM are reported.
If I50 is set to 0, the reporting is on demand. In this mode, Turbo PMAC will check every background
cycle to see if the host computer has set the request bit in DPRAM, signaling that it has read the previous
cycle’s data. Turbo PMAC will copy the latest data into DPRAM only if this bit is set, and it will clear
the bit.
I51 Compensation Table Enable
Range: 0 to 1
Units: None
Default: 0 (disabled)
I51 the enabling and disabling of all of the compensation tables for all motors on Turbo PMAC:
leadscrew compensation tables, backlash compensation tables, and torque compensation tables. When
I51 is 0, all tables are disabled and there is no correction performed. When I51 is 1, all tables are enabled
and corrections are performed as specified in the tables.
The constant backlash as controlled by Ixx85 and Ixx86 is not affected by the setting of I51.
I52 CPU Frequency Control
Range: 0 to 31