Reference Manual

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PMAC 2 Software Reference

94 PMAC I-Variable Specifiation

Example

With the instantaneous current limit Ix69 at 32,767, the magnetization current Ix77 at 0,

the continuous current limit Ix57 at 10,589 (1/3 of max), the time permitted with maximum

current is at 1 minute, and the servo update rate at the default of 2.25 kHz, Ix58 would be

set as:

120000602250)

33.0

0.0

0.1(58Ix =∗∗−+=

See Also

Integrated Current Protection (Making Your Application Safe)

Ix59 Motor x User-Written Servo/Phase Enable

Range

0 .. 3

Units

none

Default

Remarks

Ix59 controls whether the built-in servo and commutation routines, or user-written servo

and commutation routines, are used for Motor x.

Ix59 Servo Algorithm Commutation Algorithm

0 Built-in Built-in

1 User-written Built-in

2 Built-in User-written

3 User-written User-written

Any user-written servo or commutation (phase) algorithms will have been coded and

cross-assembled in a host computer, and downloaded into PMAC’s program memory.

These algorithms are retained by the battery on battery-backed RAM versions, or saved

into flash memory on flash-backed versions.

Ix00 must be 1 in order for the user-written servo to execute. Ix01 must be 1 in order for

the user-written commutation to execute. The servo algorithm can be changed

immediately between the built-in algorithm and a user-written algorithm by changing Ix59.

PMAC only selects the phasing algorithm to be used at power-on reset, so in order to

change the commutation algorithm, Ix59 must be changed, this new value stored to non-

volatile memory with the SAVE command, and the board reset.

It is possible to use the user-written algorithms for purposes other than servo or

commutation, making them essentially very fast and efficient PLC programs. This is very

useful for fast, position-based outputs. Simply load the code, activate an extra “motor”

with Ix00 and/or Ix01, and set Ix59 for this pseudo-motor to use this algorithm.