Reference Manual

PMAC 2 Software Reference
38 PMAC I-Variable Specifiation
See Also
DPRAM Background Data Reporting (Option 2 DPRAM Manual)
I-variables I48, I59
I50 Rapid Move Mode Control
Range
0 .. 1
Units
none
Default
1
Remarks
I50 determines which variables are used for speed of RAPID mode moves. When I50 is
set to 0, the jog parameter for each motor (Ix22) is used. When I50 is set to 1, the
maximum velocity parameter for each motor (Ix16) is used instead. Regardless of the
setting of I50, the jog acceleration parameters Ix19-Ix21 control the acceleration.
See Also
RAPID mode moves (Writing a Motion Program)
I-variables Ix16, Ix19-Ix22
Program command RAPID.
I51 Compensation Table Enable
Range
0 .. 1
Units
none
Default
0
Remarks
I51 permits the enabling and disabling of the PMAC’s compensationtables – leadscrew
(position) compensation tables, torque compensation tables, and backlash compensation
tables. When I51 is 0, all tables are disabled and there is no correction performed. When
I51 is 1, all existing tables are enabled and corrections are performed as specified in the
tables.
See Also
Leadscrew Compensation (Setting Up a Motor)
On-line commands DEFINE COMP, DELETE COMP, LIST COMP DEF.
Position-compensation registers (D:$46, etc.)
Torque compensation registers (Y:$45, etc.)
Suggested M-variables Mx69
I52 \ Program Hold Slew Rate
Range
0 .. 8,388,607
Units
I10 units / segmentation period
Default
37,137
Remarks
I52 controls the slew rate to a stop on a \ program hold command, and the slew rate back
up to speed on a subsequent R command, for all coordinate systems, provided PMAC is in
a segmented move (LINEAR or CIRCLE mode with I13>0). If PMAC is not in a
segmented move (I13=0, or other move mode), the \ command acts just like an H feed
hold command, with Ix95 controlling the slew rate.
The units of I52 are the units of I10 (1/8,388,608 msec) per segmentation period (I13
msec). To calculate how long it takes to stop on a \ command, and to restart on the next R
command, use the formula
T (msec) = I10 * I13 / I52
To calculate the value of I52 for a given start/stop time, use the formula
I52 = I10 * I13 / T (msec).