PMAC Product Guide Ix02 Motor x Command Output (DAC) Address....................................................................................................103 Ix03 Motor x Position Loop Feedback Address.................................................................................................104 Ix04 Motor x Velocity Loop Feedback Address.................................................................................................105 Ix05 Motor x Master (Handwheel) Position Address ............................................................................................106 Ix06 Motor x Master (Handwheel) Following Enable...........................................................................................106 Ix07 Motor x Master (Handwheel) Scale Factor...................................................................................................107 Ix08 Motor x Position Scale Factor.......................................................................................................................107 Ix09 Motor x Velocity Loop Scale Factor..............................................................................................................107 Motor Safety I-Variables...........................................................................................................................................108 Ix11 Motor x Fatal (Shutdown) Following Error Limit.........................................................................................108 Ix12 Motor x Warning Following Error Limit.......................................................................................................108 Ix13 Motor x Positive Software Position Limit......................................................................................................109 Ix14 Motor x Negative Software Position Limit ....................................................................................................109 Ix15 Motor x Deceleration Rate on Position Limit or Abort .................................................................................110 Ix16 Motor x Maximum Permitted Motor Program Velocity ................................................................................110 Ix17 Motor x Maximum Permitted Motor Program Acceleration .........................................................................110 Ix19 Motor x Maximum Permitted Motor Jog/Home Acceleration .......................................................................111 Motor Movement I-Variables....................................................................................................................................112 Ix20 Motor x Jog/Home Acceleration Time...........................................................................................................112 Ix21 Motor x Jog/Home S-Curve Time..................................................................................................................112 Ix22 Motor x Jog Speed.........................................................................................................................................113 Ix23 Motor x Homing Speed and Direction...........................................................................................................113 Ix25 Motor x Limit/Home Flag/Amp Flag Address ...............................................................................................113 Ix26 Motor x Home Offset .....................................................................................................................................116 Ix27 Motor x Position Rollover Range ..................................................................................................................116 Ix28 Motor x In-position Band ..............................................................................................................................117 Ix29 Motor x Output - or First Phase - DAC Bias.................................................................................................117 Servo Control I-Variables..........................................................................................................................................118 Ix30 Motor x PID Proportional Gain....................................................................................................................118 Ix31 Motor x PID Derivative Gain........................................................................................................................119 Ix32 Motor x PID Velocity Feedforward Gain......................................................................................................119 Ix33 Motor x PID Integral Gain............................................................................................................................119 Ix34 Motor x PID Integration Mode......................................................................................................................120 Ix35 Motor x PID Acceleration Feedforward Gain...............................................................................................120 Ix68 Motor x Friction Feedforward ......................................................................................................................120 Ix69 Motor x Output Command (DAC) Limit........................................................................................................121 Ix80 Motor x Power-Up Mode...............................................................................................................................121 Coordinate System I-Variables..................................................................................................................................122 Ix87 Coordinate System x Default Program Acceleration Time............................................................................122 Ix88 Coordinate System x Default Program S-Curve Time...................................................................................123 Ix89 Coordinate System x Default Program Feedrate/Move Time........................................................................123 Ix90 Coordinate System x Feedrate Time Units ....................................................................................................124 Ix91 Coordinate System x Default Working Program Number .............................................................................124 Ix92 Coordinate System x Move Blend Disable.....................................................................................................124 Ix94 Coordinate System x Time Base Slew Rate (and Limit).................................................................................124 Ix95 Coordinate System x Feed Hold Deceleration Rate ......................................................................................125 Ix96 Coordinate System x Circle Error Limit........................................................................................................125 Encoder/Flag Setup I-Variables.................................................................................................................................126 I900, I905, ...
I975 Encoder n Decode Control Encoder I-Variable 0 ..................................................................126 I902, I907, ... I977 Encoder n Position Capture Control Encoder I-Variable 2 ..................................................127 I903, I908, ...
I978 Encoder n Flag Select Control Encoder I-Variable 3............................................................128 ONLINE COMMANDS..........................................................................................................................................129 ........................................................................................................................................................129 ........................................................................................................................................................129 ........................................................................................................................................................130 Table of Contents v