Reference Manual

PMAC 2 Software Reference

PMAC I-Variable Specification 71

Ix12 Motor x Warning Following Error Limit

Range

0 .. 8,388,607

Units

1/16 Counts

Default

16000 (1000 counts)

Remarks

Ix12 sets the magnitude of the following error for Motor x at which a warning flag goes

true. If this limit is exceeded, status bits are set for the motor and the motor’s coordinate

system (if any). The coordinate system status bit is the logical OR of the status bits of all

the motors in the coordinate system.

Setting this parameter to zero disables the warning following error limit function. If this

parameter is set greater than the fatal following error limit, the warning status bit will

never go true, because the fatal limit will disable the motor first.

If bit 17 of Ix03 is set to 1, the motor can be triggered for homing search moves, jog-until-

trigger moves, and motion program move-until-trigger moves when the following error

exceeds Ix12. This is known as torque-mode triggering, because the trigger will occur at a

torque level corresponding to the Ix12 limit.

At any given time, one coordinate system’s status bit can be output to several places;

which system depends on what coordinate system is hardware-selected on the panel input

port if I2=0, or what coordinate system is software-addressed from the host (&n) if I2=1.

The outputs that work in this way are F1LD/ (pin 23 on connector J2), F1ER (line IR3 into

the programmable interrupt controller (PIC) on PMAC-PC, line IR6 into the PIC on

PMAC-STD) and, if E28 connects pins 1 and 2, FEFCO/ (on the JMACH connectors).

Note:

The units of Ix12 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, Ix12 should be set to 16,000.