Delta Tau PMAC VME User Manual

PMAC Quick Reference Guide
76 Appendix B – PMAC I-Variables Summary
Other Global I-Variables Range Default Units
I47 Address Of Pointer For Control-W
Command
$0000 .. $FFFF
(0 .. 65,535)
$0 Legal PMAC Y addresses
I48 DPRAM Servo Data Enable 0 .. 1 0 None
I49 DPRAM Background Data Enable 0 .. 1 0 None
I50 RAPID Mode Control 0 .. 1 1 None
I51 Leadscrew Compensation Enable 0 .. 1 0 None
I52 Feed Hold Slew Rate 0 .. 8,388,607 37137 I10 units / segmentation period
I53 Program Step Mode Control 0 .. 1 0 None
I55 DPR Background Data buffer enable 0 .. 1 0 None
I56 DPRAM Communications Interrupt
Enable
0 .. 1 0 None
I57 DPRAM Binary Rotary Buffer Enable 0 .. 1 0 None
I58 DPRAM ASCII Communications
Enable
0 .. 1 0 None
I59 DPRAM Buffer Max Motor/CS
Number
0 .. 8 0 None
I60 Auto-Converted ADC Register Address 0, $FFD0 ..
$FFFE
0 PMAC Y addresses
I61 Number of Auto-Converted ADC pair
Registers
0 .. 7 0 Number of registers minus 1
I62 Internal Message Carriage Return
Control
0 .. 1 0 None
I63 Control-X Echo Enable 0 .. 1 0 None
I64 Internal Response Tag Enable 0 .. 1 0 None
I8x Motor x 3rd Resolver Gear Ratio 0 .. 4095 0 Second-resolver turns per third-
resolver turn
I89 Cutter Comp Outside Corner Break
Point
-1.0 -- 1.0 0.99848 (cos 1°) cos Dq
I90 Minimum Arc Angle Non-negative
floating point
0 (sets 2-20) Semi-circles (p radians; 180
degrees)
I9x Motor x 2nd Resolver Gear Ratio 0 .. 4095 0 Primary-resolver turns per
second-resolver turns
I99 Backlash Hysteresis 0 .. 8,388,607 64 (= 4 counts) 1/16 Count
Motor Definition I-Variables Range Default Units
Ix00 Motor x Activate 0 .. 1 1 (for motor #1) None
Ix01 Motor x PMAC-Commutate Enable 0 .. 1 0 None
Ix02 Motor x DAC Address PMAC addresses See Ix02 table Extended legal PMAC X and Y
addresses
Ix03 Motor x Position Address PMAC X
addresses
See encoder
table
Extended legal PMAC X
addresses
Ix04 Motor x 'Velocity' Address PMAC X
addresses
Same as Ix03 Legal PMAC X addresses
Ix05 Motor x Master Position Address PMAC X
addresses
$073F Legal PMAC X addresses
Ix06 Motor x Master Follow Enable 0 .. 1 0 None
Ix07 Motor x Master Scale Factor -8,388,608 ..
8,388,607
96 None
Ix08 Motor x Position Scale Factor 0 .. 8,388,607 96 None
Ix09 Motor x Velocity Scale Factor 0 .. 8,388,607 96 None
Ix10 Motor x Power-on Servo Position
Address
PMAC addresses $0 Extended PMAC or multiplexer-
port addresses

Delta Tau PMAC VME Specifications

General

Brand	Delta Tau
Model	PMAC VME
Category	Controller
Language	English