PMAC Quick Reference Guide
Appendix B – PMAC I-Variables Summary 77
Motor Safety I-Variables Range Default Units
Ix11 Motor x Fatal Following Error
Limit
0 .. 8,388,607 32000 1/16 Count
Ix12 Motor x Warning Following Error
Limit
0 .. 8,388,607 16000 1/16 Count
Ix13 Motor x + Software Position Limit
± 247
0 (Disabled) Encoder Counts
Ix14 Motor x - Software Position Limit
± 247
0 (Disabled) Encoder Counts
Ix15 Motor x Abort/Lim Decel Rate Positive floating
point
0.25 Counts/msec2
Ix16 Motor x Maximum Velocity Positive floating
point
32 Counts/msec
Ix17 Motor x Maximum Acceleration Positive floating
point
0.015625 Counts/msec2
Ix19 Motor x Maximum Jog
Acceleration
Positive floating
point
0.015625 Counts/msec2
Motor Movement I-Variables Range Default Units
Ix20 Motor x Jog/Home Acceleration
Time
0 .. 8,388,607 0 (so Ix21
controls)
Msec
Ix21 Motor x Jog/Home S-Curve Time 0 .. 8,388,607 50 Msec
Ix22 Motor x Jog Speed Positive floating
point
32 Counts / msec
Ix23 Motor x Homing Speed &
Direction
Floating point 32 Counts / msec
Ix25 Motor x Flag Address PMAC X
addresses
See Ix25 table Extended legal PMAC X addresses
Ix26 Motor x Home Offset -8,388,608 ..
8,388,607
0 1/16 Count
Ix27 Motor x Position Rollover Range 0 .. 8,388,607 0 Counts
Ix28 Motor x In-Position Band 0 .. 8,388,607 160 (=10
counts)
1/16 Count
Ix29 Motor x DAC/1st Phase Bias -32,768 .. 32,767 0 DAC Bits
Servo Control I-Variables Range Default Units
Ix30 Motor x Proportional Gain -8,388,608 ..
8,388,607
2000 (Ix08/219) DAC bits/Encoder count
Ix31 Motor x Derivative Gain -8,388,608 ..
8,388,607
1280 (Ix30*Ix09)/226 DAC
bits/(Counts/cycle)
Ix32 Motor x Velocity Feed Forward
Gain
0 .. 8,388,607 1280 (Ix30*Ix08)/226 DAC
bits/(Counts/cycle)
Ix33 Motor x Integral Gain 0 .. 8,388,607 0 (Ix30*Ix08)/242 DAC
bits/(counts*cycles)
Ix34 Motor x Integration Mode 0 .. 1 1 none
Ix35 Motor x Acceleration Feed
Forward Gain
0 .. 8,388,607 0 (Ix30*Ix08)/226 DAC
bits/(counts/cycle2)
Ix36 Motor x PID Notch Filter
Coefficient N1
-2.0 .. +2.0 0 none (actual z-transform coefficient)
Ix37 Motor x PID Notch Filter
Coefficient N2
-2.0 .. +2.0 0 none (actual z-transform coefficient)
Ix38 Motor x PID Notch Filter
Coefficient D1
-2.0 .. +2.0 0 none (actual z-transform coefficient)
Ix39 Motor x PID Notch Filter
Coefficient D2
-2.0 .. +2.0 0 none (actual z-transform coefficient)
Ix40-
Ix56
Motor x Extended Servo Loop I-
Variable
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