Reference Manual

Turbo PMAC/PMAC2 Software Reference
Table of Contents vii
I83 MACRO Parallel Ring Enable Mask ................................................................................................ 75
I84 MACRO IC # for Master Communications ....................................................................................... 76
I85 MACRO Ring Order Number ........................................................................................................... 76
VME/DPRAM Setup I-Variables ........................................................................................... 77
I90 VME Address Modifier .................................................................................................................... 77
I91 VME Address Modifier Don’t Care Bits ........................................................................................... 77
I92 VME Base Address Bits A31-A24 ..................................................................................................... 77
I93 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16 ............................ 78
I94 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control ........... 78
I95 VME Interrupt Level ........................................................................................................................ 79
I96 VME Interrupt Vector ...................................................................................................................... 79
I97 VME DPRAM Base Address Bits A23-A20 ....................................................................................... 80
I98 VME DPRAM Enable ...................................................................................................................... 80
I99 VME Address Width Control ............................................................................................................ 80
Motor Setup I-Variables ............................................................................................................ 81
Motor Definition I-Variables ................................................................................................ 81
Ixx00 Motor xx Activation Control ........................................................................................................ 81
Ixx01 Motor xx Commutation Enable .................................................................................................... 81
Ixx02 Motor xx Command Output Address ............................................................................................ 82
Ixx03 Motor xx Position Loop Feedback Address .................................................................................. 85
Ixx04 Motor xx Velocity Loop Feedback Address ................................................................................... 86
Ixx05 Motor xx Master Position Address ............................................................................................... 87
Ixx06 Motor xx Position Following Enable and Mode............................................................................ 87
Ixx07 Motor xx Master (Handwheel) Scale Factor ................................................................................. 88
Ixx08 Motor xx Position Scale Factor.................................................................................................... 88
Ixx09 Motor xx Velocity-Loop Scale Factor ........................................................................................... 88
Ixx10 Motor xx Power-On Servo Position Address ................................................................................ 89
Motor Safety I-Variables ...................................................................................................... 94
Ixx11 Motor xx Fatal Following Error Limit ......................................................................................... 94
Ixx12 Motor xx Warning Following Error Limit .................................................................................... 94
Ixx13 Motor xx Positive Software Position Limit ................................................................................... 95
Ixx14 Motor xx Negative Software Position Limit .................................................................................. 96
Ixx15 Motor xx Abort/Limit Deceleration Rate ...................................................................................... 97
Ixx16 Motor xx Maximum Program Velocity ......................................................................................... 98
Ixx17 Motor xx Maximum Program Acceleration .................................................................................. 98
Ixx19 Motor xx Maximum Jog/Home Acceleration ............................................................................... 100
Motor Motion I-Variables ................................................................................................... 100
Ixx20 Motor xx Jog/Home Acceleration Time ...................................................................................... 100
Ixx21 Motor xx Jog/Home S-Curve Time ............................................................................................. 101
Ixx22 Motor xx Jog Speed ................................................................................................................... 101
Ixx23 Motor xx Home Speed and Direction ......................................................................................... 101
Ixx24 Motor xx Flag Mode Control ..................................................................................................... 101
Ixx25 Motor xx Flag Address .............................................................................................................. 104
Ixx26 Motor xx Home Offset................................................................................................................ 107
Ixx27 Motor xx Position Rollover Range ............................................................................................. 108
Ixx28 Motor xx In-Position Band......................................................................................................... 109
Ixx29 Motor xx Output/First Phase Offset ........................................................................................... 110
Motor xx PID Servo Setup I-Variables ................................................................................ 111
Ixx30 Motor xx PID Proportional Gain ............................................................................................... 111
Ixx31 Motor xx PID Derivative Gain ................................................................................................... 111