Reference Manual

PMAC 2 Software Reference

70 PMAC I-Variable Specifiation

(killed). If the motor’s coordinate system is executing a program at the time, the program

is aborted. It is optional whether other PMAC motors are disabled when this motor

exceeds its following error limit; bits 21 and 22 of Ix25 control what happens to the other

motor (the default is that all PMAC motors are disabled).

A status bit for the motor, and one for the coordinate system (if the motor is in one) are set.

If this coordinate system is hardware-selected on JPAN (with I2=0), or software-addressed

by the host (with I2=1), the ERLD/ output on JPAN, and the EROR input to the interrupt

controller (except for PMAC-VME) are triggered.

Setting Ix11 to zero disables the fatal following error limit for the motor. This may be

desirable during initial development work, but it is strongly discouraged in an actual

application. A fatal following error limit is a very important protection against various

types of faults, such as loss of feedback, that cannot be detected directly, and that can

cause severe damage to people and equipment.

Note:

The units of Ix11 are 1/16 of a count. Therefore this parameter

must hold a value 16 times larger than the number of counts at

which the limit will occur. For example, if the limit is to be 1000

counts, Ix11 should be set to 16,000.