Reference Manual

PMAC 2 Software Reference
86 PMAC I-Variable Specifiation
Servo Control I-Variables
Ix30 – Ix58 Motor x Extended Servo Algorithm Gains {Option 6 firmware only}
Range
0.0 – 0.999999
Units
none
Default
0.0
Remarks
When the Option 6 Extended Servo Algorithm (ESA) special firmware is ordered,
variables Ix30 through Ix58 for each Motor x have different meanings from those in the
standard firmware with the PID servo filter. The following table shows the meanings of
these variables for the ESA algorithm. Please refer to the block diagram of the ESA in the
User’s Manual to understand the function of each of these variables.
I-Variable Gain
Name
Range I-Variable Gain
Name
Range
Ix30 s0
-1.0≤Var<+1.0
Ix45 TS
-2
23
≤Var<2
23
Ix31 s1
-1.0≤Var<+1.0
Ix46 L1
-1.0≤Var<+1.0
Ix32 f0
-1.0≤Var<+1.0
Ix47 L2
-1.0≤Var<+1.0
Ix33 f1
-1.0≤Var<+1.0
Ix48 L3
-1.0≤Var<+1.0
Ix34 h0
-1.0≤Var<+1.0
Ix49 k0
-1.0≤Var<+1.0
Ix35 h1
-1.0≤Var<+1.0
Ix50 k1
-1.0≤Var<+1.0
Ix36 r1
-1.0≤Var<+1.0
Ix51 k2
-1.0≤Var<+1.0
Ix37 r2
-1.0≤Var<+1.0
Ix52 k3
-1.0≤Var<+1.0
Ix38 r3
-1.0≤Var<+1.0
Ix53 KS
-2
23
≤Var<2
23
Ix39 r4
-1.0≤Var<+1.0
Ix54 d1
-1.0≤Var<+1.0
Ix40 t0
-1.0≤Var<+1.0
Ix55 d2
-1.0≤Var<+1.0
Ix41 t1
-1.0≤Var<+1.0
Ix56 g0
-1.0≤Var<+1.0
Ix42 t2
-1.0≤Var<+1.0
Ix57 g1
-1.0≤Var<+1.0
Ix43 t3
-1.0≤Var<+1.0
Ix58 GS
-2
23
≤Var<2
23
Ix44 t4
-1.0≤Var<+1.0
(Ix68) Kfff
0≤Var<2
16
Variables Ix59, Ix63, Ix64, Ix65, Ix66, and Ix67 for the standard PID algorithm have no
function for the Option 6 ESA.
Ix30 Motor x PID Proportional Gain
Range
-8,388,608 .. 8,388,607
Units
(Ix08/2
19
) DAC bits/Encoder count
Default
2000
Remarks
WARNING:
Changing the sign of Ix30 on a motor that has been closing a stable
servo loop will cause an unstable servo loop, leading to a probable
runaway condition.
Ix30 provides a control output proportional to the position error (commanded position
minus actual position) of Motor x. It acts effectively as an electronic spring. The higher
Ix30 is, the stiffer the “spring” is. Too low a value will result in sluggish performance.
Too high a value can cause a “buzz” from constant over-reaction to errors.