Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables 65
I59 Motor/C.S. Group Select
Range: 0 – 3
Units: none
Default: 0
I59 controls which group of eight motors and eight coordinate systems can be selected by the FPDn
inputs on the Turbo PMAC control panel port. The possible values of I59 and the motors and coordinate
systems they select are:
 I59 = 0: Motors 1 – 8; C.S. 1 – 8
 I59 = 1: Motors 9 – 16; C.S. 9 – 16
 I59 = 2: Motors 17 – 24; C.S. 1 – 8
 I59 = 3: Motors 25 – 32; C.S. 9 – 16
The value of I59 can be set from the control panel of a Turbo PMAC. If none of the FPDn lines are
pulled low (selecting Motor/C.S. 0), then pulling any of four input lines low will cause the value of I59 to
be set:
 HOME/: I59 = 0
 PREJOG/: I59 = 1
 START/: I59 = 2
 STEP/: I59 = 3
Note:
In Turbo PMAC firmware versions 1.934 and older, I59 also controlled which
group of eight motors’ data was supplied in response to the on-line commands
<CTRL-B>, <CTRL-P>, <CTRL-V>, and <CTRL-F>, when issued from any
port. Starting in firmware version V1.935, each port can select a different group of
eight motors for these commands, as set by the most recent ## command sent over
that port.
See Also:
On-line commands <CTRL-B>, <CTRL-F>, <CTRL-P>, <CTRL-V>, ##{constant}
I60 Filtered Velocity Sample Time
Range: 0 to 15
Units: Servo Cycles - 1
Default: 15
I60 controls the frequency at which actual positions for each motor are placed into the 16-slot rotary
velocity calculation buffer for the motor. Every (I60+1) servo cycles, PMAC compares the actual
position for each active motor to the actual position from 16 * (I60+1) servo cycles before to compute a
filtered velocity for reporting purposes (with the V and <CTRL-V> commands), then overwrites that old
value in the 16-slot buffer.
I60 must be set equal to a value 2
n
-1 (0, 1, 3, 7, or 15) for proper operation. At the default value of 15,
Turbo PMAC stores a position value every 16 servo cycles and computes the velocity by comparing to
the position stored 256 servo cycles before. I61 must be set in the appropriate relationship to I60 in order
for the filtered velocity value to be scaled properly.
See Also:
I-variables I61, Ix09
On-line commands <CTRL-V>, V
Suggested M-variables Mxx74
Memory registers D:$0000EF, etc.