Reference Manual

PMAC/PMAC2 Software Reference Manual
14 PMAC Command and Variable Summary
PMAC(1) Servo Interface Setup I-Variables
For Encoder n (n = 1 to 16)
I900 - I904 – Encoder 1
I905 - I909 – Encoder 2
I910 - I914 – Encoder 3
I915 - I919 – Encoder 4
...
I970 - I974 – Encoder 15
I975 - I979 – Encoder 16
I900, I905, I910, I915, I920, I925, I930, I935,
I940, I945, I950, I955, I960, I965, I970, I975 (Encoder I-Variable 0) Encoder n Decode Control
I901, I906, I911, I916, I921, I926, I931, I936,
I941, I946, I951, I956, I961, I966, I971, I976 (Encoder I-Variable 1) Encoder n Filter Disable
I902, I907, I912, I917, I922, I927, I932, I937,
I942, I947, I952, I957, I962, I967, I972, I977 (Encoder I-Variable 2) Encoder n Position Capture
Control
I903, I908, I913, I918, I923, I928, I933, I938,
I943, I948, I953, I958, I963, I968, I973, I978 (Encoder I-Variable 3) Encoder n Flag Select Control
PMAC2 Servo Interface Setup I-Variables
Global Hardware Setup I-Variables
I900..................MaxPhase and PWM 1-4 Frequency Control
I901..................Phase Clock Frequency Control
I902..................Servo Clock Frequency Control
I903..................Hardware Clock 1-4 Frequency Control
I904..................PWM 1-4 Deadtime/PFM 1-4 Pulse-Width Control
I905..................DAC 1-4 Strobe Word Control
I906..................PWM 5-8 Frequency Control
I907..................Hardware Clock 5-8 Frequency Control
I908..................PWM 5-8 / PFM 5-8 Pulse-Width Control
I909..................DAC 5-8 Strobe Word Control
Channel n Hardware Setup I-Variables
I9n0..................Encoder/Timer n Decode Control
I9n1..................Position Compare n Channel Select
I9n2..................Encoder n Capture Control
I9n3..................Flag n Capture Select
I9n4..................Encoder n Gated Index Select
I9n5..................Encoder n Index Gate State
I9n6..................Output n Mode Select
I9n7..................Output n Invert Control
I9n8..................PFM n Direction Invert Control
I9n9..................Encoder n Hardware 1/T Control
Ultra-Lite/Supplemental Channel Hardware Setup I-Variables
I990..................Handwheel 1 Decode Control
I991..................Handwheel 2 Decode Control
I992..................Ultralite MaxPhase Frequency Control