Reference Manual

PMAC 2 Software Reference
62 PMAC I-Variable Specifiation
Ix06 Motor x Master (Handwheel) Following Enable
Range
0 .. 1
Units
none
Default
0
Remarks
Ix06 disables or enables Motor x’s position following function. A value of 0 means
disabled; a value of 1 means enabled. Following mode is specified by high bits of Ix05.
Note:
This parameter can be changed on-line in a PMAC(1) through
hardware inputs on the JPAN connector. The FPDn/
motor/coordinate-system select lines (low-true BCD-coded) can
turn Ix06 on and off. On power-up or reset, if I2 was saved as zero,
Ix06 for the selected motor is set to one and Ix06 for all other
motors is set to zero regardless of the values that were saved. When
the select switch is changed, Ix06 for the de-selected motor is set to
zero and Ix06 for the selected motor is set to 1.
See Also
Position Following (Synchronizing PMAC to External Events)
I-variables I2, Ix05, Ix07, Ix08
Control Panel Inputs (Connecting PMAC to the Machine)
Ix07 Motor x Master (Handwheel) Scale Factor
Range
-8,388,608 .. 8,388,607
Units
none
Default
96
Remarks
Ix08 controls with what scaling the master (handwheel) encoder gets extended into the
full-length register. In combination with Ix08, it also controls the following ratio of Motor
x (delta-motor-x = [Ix07/Ix08] * delta-handwheel-x) for position following (electronic
gearing). For following, Ix07 and Ix08 can be thought of as the number of teeth on
meshing gears in a mechanical coupling.
Ix07 can be changed on the fly to permit real-time changing of the following ratio, but
Ix08 may not.
See Also
I-variables Ix05, Ix06, Ix08
Position Following (Synchronizing PMAC to External Events)
Ix08 Motor x Position Scale Factor
Range
0 .. 8,388,607
Units
none
Default
96
Remarks
Ix08 controls how the position encoder counter gets extended into the full-length register.
For most purposes, this is transparent to the user and does not need to be changed from the
default.
There are two reasons that the user might want to change this from the default value. First,
because it is involved in the “gear ratio” of the position following function – the ratio is
Ix07/Ix08 – this might be changed (usually raised) to get a more precise ratio.
The second reason to change this parameter (usually lowering it) is to prevent internal
saturation at very high gains or count rates (velocity). PMAC’s filter will saturate when
the velocity in counts/sec multiplied by Ix08 exceeds 768M (805,306,368). This happens
only in very rare applications – the count rate must exceed 8.3 million counts per second
before the default value of Ix08 gives a problem.