Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 55
Ix01 Motor x PMAC-Commutation Enable
Range
0 .. 1
Units
none
Default
0
Remarks
Ix01 determines whether PMAC will perform commutation calculations for Motor x. If
Ix01 is set to 0, PMAC will not perform commutation calculations for the motor, and it
will compute only one output value for that motor (usually analog or pulse-and-direction).
If a multi-phase motor is used, but is commutated in the amplifier, Ix01 should be set to 0.
If Ix01 is set to 1, PMAC will perform commutation calculations for Motor x. In this case,
it will either compute two phase-current command outputs for the motor (if Ix82 = 0,
disabling the current loop), usually analog outputs, or three phase-voltage command
outputs (if Ix82 > 0, enabling the current loops), usually as PWM signals
See Also
Setting Up PMAC Commutation
I-variables Ix70-Ix83.
Ix02 Motor x Command Output Address
Range Extended legal PMAC X and Y addresses
Units Extended legal PMAC X and Y addresses
Default
Motor I-variable PMAC(1) PMAC2 PMAC2 Ultralite
Motor #1 I102 $C003 $C002 $C0A0
Motor #2 I202 $C002 $C00A $C0A4
Motor #3 I302 $C00B $C012 $C0A8
Motor #4 I402 $C00A $C01A $C0AC
Motor #5 I502 $C013 $C022 $C0B0
Motor #6 I602 $C012 $C02A $C0B4
Motor #7 I702 $C01B $C032 $C0B8
Motor #8 I802 $C01A $C03A $C0BC
Remarks Ix02 tells Motor x which register or registers to which it writes its command output values. It
contains the address of this register or the first (lowest addresses) of these multiple registers.
This determines which output lines transmit the command output signals. If bit 19 of Ix02 is
set to 0 (default), this register is a Y-register; if bit 19 of Ix02 is set to 1, this register is an X-
register. Almost all output registers on PMAC are Y-registers; the only common use of X-
register outputs is in the Type 0 MACRO protocol. The exact function of Ix02 is dependent
on the motor’s mode of operation, as explained in the following sections.
No Commutation: If PMAC is not commutating Motor x (Ix01 = 0), only one command
output value is calculated, which is written to the register at the address specified in Ix02.
For PMAC(1) systems, this output register is almost always a DAC analog output. The
addresses of each DAC are shown in the following table.
Channel Address Channel Address
DAC1 $C003 DAC9 $C023
DAC2 $C002 DAC10 $C022
DAC3 $C00B DAC11 $C02B
DAC4 $C00A DAC12 $C02A
DAC5 $C013 DAC13 $C033
DAC6 $C012 DAC14 $C032
DAC7 $C01B DAC15 $C03B
DAC8 $C01A DAC16 $C03A
Channels 9 – 16 are on an ACC-24P/V board.