Reference Manual

PMAC/PMAC2 Software Reference Manual
ii Table of Contents
Channel n Hardware Setup I-Variables .............................................................................................................14
Ultra-Lite/Supplemental Channel Hardware Setup I-Variables.........................................................................14
MACRO Support I-Variables..................................................................................................................................15
PMAC Error Code Summary ..................................................................................................................................16
PMAC Syntax Notes ...............................................................................................................................................17
PMAC I-VARIABLE SPECIFICATION................................................................................................................19
Global I-Variables...................................................................................................................................................19
I0 Serial Addressing Card Number {PMAC(1) w/Flex CPU, PMAC2 only} .................................................19
I1 Serial Port Mode........................................................................................................................................20
I2 Control Panel Disable................................................................................................................................21
I3 I/O Handshake Control..............................................................................................................................21
I4 Communications Integrity Mode................................................................................................................23
I5 PLC Programs On/Off ...............................................................................................................................24
I6 Error Reporting Mode................................................................................................................................25
I7 In-Position Number of Cycles ....................................................................................................................26
I8 Real Time Interrupt Period ........................................................................................................................26
I9 Full/Abbreviated Program Listing Form ...................................................................................................27
I10 Servo Interrupt Time..............................................................................................................................28
I11 Programmed Move Calculation Time....................................................................................................29
I12 Jog-to-Position Calculation Time..........................................................................................................30
I13 Programmed Move Segmentation Time.................................................................................................30
I14 Auto Position Match on Run Enable......................................................................................................31
I15 Degree/Radian Control for User Trig Functions...................................................................................31
I16 Rotary Buffer Request On Point ............................................................................................................31
I17 Rotary Buffer Request Off Point ............................................................................................................32
I18 Fixed Buffer Full Warning Point ...........................................................................................................33
Data Gathering I-Variables .....................................................................................................................................33
I19 Data Gathering Period (in Servo Cycles)..............................................................................................33
I20 Data Gathering Selection Mask.............................................................................................................34
I21 Data Gathering Source 1 Address .........................................................................................................34
I22–I44 Data Gathering Source 2 thru 24 Addresses........................................................................................35
I45 Data Gathering Buffer Location and Mode...........................................................................................35
I46 CPU Frequency Control {PMAC w/Flex CPU only} ............................................................................36
I47 Address of Pointer for Control-W Command ........................................................................................36
I48 DPRAM Servo Data Enable ..................................................................................................................37
I49 DPRAM Background Data Enable ........................................................................................................37
I50 Rapid Move Mode Control ....................................................................................................................38
I51 Compensation Table Enable..................................................................................................................38
I52 \ Program Hold Slew Rate .....................................................................................................................38
I53 Program Step Mode Control..................................................................................................................39
I54 Serial Baud Rate {PMAC(1) w/Flex CPU or PMAC2 only}..................................................................39
I55 DPRAM Background Variable Buffers Enable......................................................................................40
I56 DPRAM ASCII Communications Interrupt Enable................................................................................41
I57 DPRAM Binary Rotary Buffer Enable...................................................................................................41
I58 DPRAM ASCII Communications Enable...............................................................................................42
I59 DPRAM Buffer Maximum Motor/C.S. Number .....................................................................................42
I60 Auto-Converted ADC Register Address {PMAC(1) only} .....................................................................42
I61 Number of Auto-Converted ADC Registers {PMAC(1) only}................................................................43
I62 Internal Message Carriage Return Control...........................................................................................44
I63 Control-X Echo Enable..........................................................................................................................44
I64 Internal Response Tag Enable...............................................................................................................45
I65 User-Configuration Variable .......................................................................................................................46
I66 Servo-Channel ADC Auto-Copy Disable {PMAC2 only} ......................................................................46
I67 Modbus TCP Buffer Start Address.........................................................................................................47
I68 Alternate TWS Input Format..................................................................................................................47