Reference Manual

PMAC 2 Software Reference
PMAC On-Line Command Specification 285
Note:
PMAC does not provide the acknowledging handshake character to
the SAVE command until it has finished the saving operation, a
significant fraction of a second later on PMACs with battery backup
and about 5 to 10 seconds on PMACs with flash backup. The host
program should be prepared to wait much longer for this character
than is necessary on most commands. For this reason, it is usually not
a good idea to include the SAVE command as part of a “dump”
download of a large file.
During execution of the SAVE command, PMAC will execute no other background tasks,
including user PLCs and automatic safety checks, such as following error and overtravel
limits. Particularly on boards with the flash backup where saving takes many seconds, you
must make sure the system is not depending on these tasks for safety when the SAVE
command is issued.
Example
I130=60000 ... ; Set Motor 1 proportional gain
SAVE.................. ; Save to non-volatile memory
I130=80000 ... ; Set new value
$$$ .................... ; Reset card
I130.................. ; Request value of I130
60000 ; PMAC responds with saved value
See Also
On-line commands $$$, $$$***
Jumpers E50 and E51.
SETPHASE
Function
Set motor commutation phase-position registers
Scope
Global
Syntax
SETPHASE{constant}[,{constant}...]
SETPHASE{constant}..{constant}
[,{constant}..{constant}...]
where:
• {constant} is an integer from 1 to 8 representing a motor number
Remarks
This command causes PMAC to force the commutation phase-position register for the
specified motor or motor’s to the value of the Ix75 phase-position offset parameter.
The main use of this command is to correct the phase position value at a known position
(usually the motor home position) after an approximate phasing search or phasing read (e.g.
from Hall commutation sensors). The approximate referencing is sufficient to move to a
known position, but not necessarily to get peak performance from the motor.
Example
SETPHASE1
SETPHASE1,3,5
SETPHASE1..4
SETPHASE1..3,5..7
See Also
Power-On Phasing Search (Setting Up PMAC Commutation)
I-variables Ix75, Ix81
Program Command SETPHASE