Reference Manual

PMAC/PMAC2 Software Reference Manual
12 PMAC Command and Variable Summary
Ix29..................Motor x Output - or First Phase – Bias
Motor Servo Control I-Variables {Standard PID Algorithm}
Ix30..................Motor x PID Proportional Gain
Ix31..................Motor x PID Derivative Gain
Ix32..................Motor x PID Velocity Feedforward Gain
Ix33..................Motor x PID Integral Gain
Ix34..................Motor x PID Integration Mode
Ix35..................Motor x PID Acceleration Feedforward Gain
Ix36..................Motor x Notch Filter Coefficient N1
Ix37..................Motor x Notch Filter Coefficient N2
Ix38..................Motor x Notch Filter Coefficient D1
Ix39..................Motor x Notch Filter Coefficient D2
Ix40..................Motor x Net Desired Position Filter Gain {Opt 6L Lookahead firmware only}
Ix57..................Motor x Continuous Current Limit
Ix58..................Motor x Integrated Current Fault Level
Ix59..................Motor x User-Written Servo Enable
Ix60..................Motor x Servo Cycle Extension Period
Ix61..................Motor x Current-Loop Integral Gain {PMAC2 only}
Ix62..................Motor x Forward-Path Current Loop Proportional Gain {PMAC2 only}
Ix63..................Motor x Integration Limit
Ix64..................Motor x “Deadband Gain Factor”
Ix65..................Motor x Deadband Size
Ix66..................Motor x PWM Scale Factor
Ix67..................Motor x Linear Position Error (“Big Step”) Limit
Ix68..................Motor x Friction Feedforward Gain
Ix69..................Motor x Output Command (DAC) Limit
Motor Servo Control I-Variables {Option 6 Extended Servo Algorithm only}
Ix30..................Motor x ESA s0 Gain
Ix31..................Motor x ESA s1 Gain
Ix32..................Motor x ESA f0 Gain
Ix33..................Motor x ESA f1 Gain
Ix34..................Motor x ESA h0 Gain
Ix35..................Motor x ESA h1 Gain
Ix36..................Motor x ESA r1 Gain
Ix37..................Motor x ESA r2 Gain
Ix38..................Motor x ESA r3 Gain
Ix39..................Motor x ESA r4 Gain
Ix40..................Motor x ESA t0 Gain
Ix41..................Motor x ESA t1 Gain
Ix42..................Motor x ESA t2 Gain
Ix43..................Motor x ESA t3 Gain
Ix44..................Motor x ESA t4 Gain
Ix45..................Motor x ESA TS Gain
Ix46..................Motor x ESA L1 Gain
Ix47..................Motor x ESA L2 Gain
Ix48..................Motor x ESA L3 Gain
Ix49..................Motor x ESA k0 Gain
Ix50..................Motor x ESA k1 Gain
Ix51..................Motor x ESA k2 Gain