Reference Manual

PMAC/PMAC2 Software Reference Manual
PMAC Command and Variable Summary 13
Ix52..................Motor x ESA k3 Gain
Ix53..................Motor x ESA KS Gain
Ix54..................Motor x ESA d1 Gain
Ix55..................Motor x ESA d2 Gain
Ix56..................Motor x ESA g0 Gain
Ix57..................Motor x ESA g1 Gain
Ix58..................Motor x ESA GS Gain
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}
Ix68..................Motor x Friction Feedforward Gain
Ix69..................Motor x Output Command (DAC) Scale Factor
Motor Commutation I-Variables
Ix70..................Motor x Number of Commutation Cycles (N) for Cycle Size Definition
Ix71..................Motor x Encoder Counts per N Commutation Cycles
Ix72..................Motor x Commutation Phase Angle
Ix73..................Motor x Phase Finding Output (DAC) Value
Ix74..................Motor x Phase Finding Time
Ix75..................Motor x Phasing Offset
Ix76..................Motor x Velocity Phase Advance Gain {PMAC(1) only}
Ix76..................Motor x Current-Loop Back-Path Proportional Gain {PMAC2 only}
Ix77..................Motor x Induction Motor Magnetization Current
Ix78..................Motor x Induction Motor Slip Gain
Ix79..................Motor x Second Phase Bias
Ix80..................Motor x Power-Up Mode
Ix81..................Motor x Power-On Phase Position Address
Ix82..................Motor x Current Loop Feedback Address {PMAC2 only}
Ix83..................Motor x Ongoing Phasing Position Address
Ix84..................Motor x Current Loop Mask Word {PMAC2 only}
Further Motor I-Variables
Ix85..................Motor x Backlash Take-up Rate
Ix86..................Motor x Backlash Size
Coordinate System I-Variables
x = Coordinate System Number (&x, x = 1 to 8)
Ix87..................Coordinate System x Default Program Acceleration Time
Ix88..................Coordinate System x Default Program S-Curve Time
Ix89..................Coordinate System x Default Program Feedrate
Ix90..................Coordinate System x Feedrate Time Units
Ix91..................Coordinate System x Default Working Program Number
Ix92..................Coordinate System x Move Blend Disable
Ix93..................Coordinate System x Time Base Control Register Address
Ix94..................Coordinate System x Time Base Slew Rate
Ix95..................Coordinate System x Feed Hold Slew Rate
Ix96..................Coordinate System x Maximum Circle Error Limit
Ix98..................Coordinate System x Maximum Feedrate