Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 97
Ix64 Motor x Deadband Gain Factor
Range
-32,768 .. 32,767
Units
none
Default
0 (no deadband)
Remarks
Ix64 is part of the PMAC feature known as deadband compensation, which can be used to
create or cancel deadband. It controls the effective gain within the deadband zone (see Ix65).
When the following error is less than the value of Ix65, the proportional gain (Ix30) is
multiplied by (Ix64+16)/16. At a value of -16, Ix64 provides true deadband. Values between
-16 and 0 yield reduced gain within the deadband. Ix64 = 0 disables any deadband effect.
PMAC DEAD BAND
Values of Ix64 greater than 0 yield increased gain within the deadband; a value of 16
provides double gain in the “deadband”. A small band of increased gain can be used to
reduce errors while holding position, without as much of a threat to make the system
unstable. It is also useful in compensating for physical deadband in the system.
Note:
Values of Ix64 less than -16 will cause negative gain inside the
deadband, making it impossible for the system to settle inside the
band. These settings have no known useful function.
Outside the deadband, gain asymptotically approaches Ix30 as the following error increases.