Reference Manual

PMAC/PMAC2 Software Reference Manual
Table of Contents iii
I69 Modbus TCP Software Control Panel Start Address.............................................................................48
I70 – I77 Analog Table Setup Lines..............................................................................................................48
I8x Motor x Third-Resolver Gear Ratio.......................................................................................................50
I89 Cutter Comp Outside Corner Break Point.............................................................................................51
I90 Minimum Arc Angle...............................................................................................................................52
I9x Motor x Second-Resolver Gear Ratio ....................................................................................................52
I99 Backlash Hysteresis...............................................................................................................................54
Motor x I-Variables.................................................................................................................................................54
Motor Definition I-Variables ..............................................................................................................................54
Ix00 Motor x Activate ...............................................................................................................................54
Ix01 Motor x PMAC-Commutation Enable ..............................................................................................55
Ix02 Motor x Command Output Address ..................................................................................................55
Ix03 Motor x Position Loop Feedback Address ........................................................................................58
Ix04 Motor x Velocity Loop Feedback Address........................................................................................60
Ix05 Motor x Master (Handwheel) Position Address ................................................................................61
Ix06 Motor x Master (Handwheel) Following Enable...............................................................................62
Ix07 Motor x Master (Handwheel) Scale Factor .......................................................................................62
Ix08 Motor x Position Scale Factor ...........................................................................................................62
Ix09 Motor x Velocity Loop Scale Factor .................................................................................................63
Ix10 Motor x Power-Up Servo Position Address ......................................................................................64
Motor Safety I-Variables ....................................................................................................................................69
Ix11 Motor x Fatal (Shutdown) Following Error Limit.............................................................................69
Ix12 Motor x Warning Following Error Limit ..........................................................................................71
Ix13 Motor x Positive Software Position Limit.........................................................................................72
Ix14 Motor x Negative Software Position Limit .......................................................................................72
Ix15 Motor x Deceleration Rate on Position Limit or Abort .....................................................................73
Ix16 Motor x Maximum Permitted Motor Program ..................................................................................73
Ix17 Motor x Maximum Permitted Motor Program Acceleration .............................................................74
Ix19 Motor x Maximum Permitted Motor Jog/Home Acceleration ..........................................................75
Motor Movement I-Variables..............................................................................................................................76
Ix20 Motor x Jog/Home Acceleration Time ..............................................................................................76
Ix21 Motor x Jog/Home S-Curve Time.....................................................................................................76
Ix22 Motor x Jog Speed.............................................................................................................................77
Ix23 Motor x Homing Speed and Direction ..............................................................................................77
Ix24 (Reserved for Future Use) .................................................................................................................77
Ix25 Motor x Limit/Home Flag .................................................................................................................78
Ix26 Motor x Home Offset ........................................................................................................................82
Ix27 Motor x Position Rollover Range......................................................................................................82
Ix28 Motor x In-position Band ..................................................................................................................84
Ix29 Motor x Output/First Phase Offset ....................................................................................................84
Servo Control I-Variables...................................................................................................................................86
Ix30 – Ix58 Motor x Extended Servo Algorithm Gains {Option 6 firmware only} ...................................86
Ix30 Motor x PID Proportional Gain.........................................................................................................86
Ix31 Motor x PID Derivative Gain............................................................................................................87
Ix32 Motor x PID Velocity Feedforward Gain..........................................................................................88
Ix33 Motor x PID Integral Gain ................................................................................................................88
Ix34 Motor x PID Integration Mode..........................................................................................................89
Ix35 Motor x PID Acceleration Feedforward Gain ...................................................................................89
Ix36 Motor x PID Notch Filter Coefficient N1 .........................................................................................89
Ix37 Motor x PID Notch Filter Coefficient N2 .........................................................................................90
Ix38 Motor x PID Notch Filter Coefficient D1 .........................................................................................90
Ix39 Motor x PID Notch Filter Coefficient D2 .........................................................................................90
Ix40 - Ix56 Motor x Extended Servo Algorithm I-Variables......................................................................91
Ix40 Motor x Net Desired Position Filter Gain {Option 6L Firmware Only}...........................................91
Motor Servo Loop Modifiers...............................................................................................................................92
Ix57 Motor x Continuous Current Limit....................................................................................................92