Reference Manual

PMAC/PMAC2 Software Reference Manual
10 PMAC Command and Variable Summary
PMAC I-Variable Summary
General Divisions
I0 – I99 .........General card setup (global)
I100 – I186 ......Motor #1 setup
I187 – I199 .....Coordinate System 1 setup
I200 – I286 ......Motor #2 setup
I287 – I299 .....Coordinate System 2 setup
...
I800 – I886 .....Motor #8 setup
I887 – I899 .....Coordinate System 8 setup
I900 – I979 .....Encoder 1 - 16 setup (in groups of 5)
I980 – I1023 ...Reserved for future use
Global I-Variables
I0......................Serial Addressing Card Number {PMAC(1) w/Flex CPU, PMAC2 only}
I1......................Serial Port Communications Mode
I2......................Control Panel Disable
I3......................I/O Handshake Mode
I4......................Communications Checksum Enable
I5......................PLC Programs On/Off
I6......................Error Reporting Mode
I7......................In-Position Number of Cycles
I8......................Real Time Interrupt Period
I9......................Full/Abbreviated Program Listing Form
I10....................Servo Interrupt Time
I11....................Programmed Move Calculation Time
I12....................Jog-to-Position Calculation Time
I13....................Programmed Move Segmentation Time
I14....................Auto Position Match on Run
I15....................Degree/Radian Control For User Trig Functions
I16....................Rotary Buffer Request On Point
I17....................Rotary Buffer Request Off Point
I18....................Fixed Buffer Full Warning Point
I19....................Data Gathering Period (in Servo Cycles)
I20....................Data Gathering Selection Mask
I21–I44 ............Data Gathering Source 1–24 Address
I45....................Data Gathering Buffer Location and Mode
I46....................CPU Frequency Control {Flex CPU only}
I47....................Address of Pointer to <CTRL-W> Command
I48....................DPRAM Servo Data Enable
I49....................DPRAM Background Data Enable
I50....................Rapid Move Velocity Mode
I51....................Compensation Table Enable
I52....................‘\’ Program Hold Slew Rate
I53....................Program Step Mode Control
I54....................Serial Baud Rate Control {PMAC(1) w/Flex CPU, PMAC2 only}
I55....................DPRAM Background Buffer Control
I56....................DPRAM ASCII Communications Interrupt Enable
I57....................DPRAM Binary Rotary Buffer Enable
I58....................DPRAM ASCII Communications Enable