Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 79
The overtravel-limit inputs specified by this parameter must be held low in order for Motor
x to be able to command movement. The polarity of the amplifier-fault input is
determined by a high-order bit of this parameter (see below). The polarity of the home-
flag input is determined by the Encoder/Flag I-Variables 2 and 3 for the specified encoder.
The polarity of the amplifier-enable output is determined by Jumper E17.
Extended Addressing
: The source address of the flag information occupies bits 0 to 15 of
Ix25 (range $0000 to $FFFF, or 0 to 65535). If this is all that is specified – that is, all
higher bits are zero – then all of the flags are used, and used in the “normal” mode (low-
true FAULT, disabling all motors). If higher bits are set to one, some of the flags are not
used, or used in an alternate manner, as documented below.
Note:
In the extended versions, it is easier to specify this parameter in
hexadecimal form. With I9 at 2 or 3, the value of this variable will
be reported back to the host in hexadecimal form.
5
0101
2
00 01
C
0101
0
00
0
00
4
0000 0
Hex($)
Bin
Modes PMAC address of flags
=0 Use amplifier enable function
=1 Do not use amplifier enable function
=0 Enable position limits
=1 Disable position limits
=0 Enable amplifier fault input
=1 Disable amplifier fault input
=00 Kill all PMAC motors on fault or F.E.
=01 Kill all C.S. motors on fault or F.E.
=1x Kill this motor only on fault or F.E.
=0 Low true fault input
=1 High true fault input
Ix25 - Motor x Flag Address and Modes
00 1
Amplifier Enable Use Bit: With bit 16 equal to zero – the normal case – the AENAn/DIRn
output is used as an amplifier-enable line: off when the motor is killed, on when it is
enabled. Voltage polarity is determined by jumper(s) E17.
If bit 16 (value $10000, or 65536) is set to one (e.g. I125=$1C000), this output is not used
as an amplifier-enable line. This permits use of the line as a direction bit for applications
requiring magnitude-and direction outputs, such as driving steppers through voltage-to-
frequency converters. (Setting bit 16 of Ix02 to 1 enables use of this output as a direction
bit.) General-purpose use of this output is also possible by assigning an M-variable to it.