Lenze PM94P01C Manual de usuario descargar pdf (Pagina 43)

PM94P01C 41

Programming

When retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting from

the one with smallest index in the list to the last with biggest index. Consider the list for the MEMGET statement:

[V2,V3,V5-V7]

RAM ﬁle memory

Data1 Data2 Data3 Data4 Data5 Data6 ... ... index increase

Here is how the data will be assigned to variables:

V2 <- Data1

V3 <- Data2

V5 <- Data3

V6 <- Data4

V7 <- Data5

2.8 System Variables and Flags Summary

2.8.1 System Variables

Section 3.2 provides a complete list of the system variables. Every aspect of the PositionServo can be controlled by

the manipulation of the values stored in the System Variables. All System Variables start with a “VAR_” followed by the

variable name. Alternatively, System Variables can be addressed as an @NUMBER where the number is the variable

Index. The most frequently used variables also have alternate names listed in Table 12.

Table 12: System Variables

Index Variable Access Variable Description Units

181 ACCEL R/W Acceleration for motion commands User Units/Sec

71 AIN1 R Analog input. Scaled in volts. Range from -10 to +10 volts V(olt)

72 AIN2 R Analog input 2. Scaled in Volts. Range from -10 to +10 volts V(olt)

88 AOUT R/W Analog output. Value in Volts. Valid range from -10 to +10 (V)

(2)

V(olt)

215 APOS R/W Actual motor position User Units

190 APOS_PLS R/W Actual Motor Position Encoder Counts

182 DECEL R/W Deceleration for motion commands User Units/Sec

83 DEXSTATUS R Drive Extended Status Word -

54 DSTATUS R Status ﬂags register -

DFAULTS R Fault code register -

245 HOME W Start Homing (pre-deﬁned homing) -

INDEX R Lower 8 bits are used. See ASSIGN statement for details. -

184 INPOSLIM R/W Maximum deviation of position for INPOSITION Flag to remain set User Units

65 INPUTS R Digital Inputs states. The ﬁrst 12 bits correspond to the 12 drive inputs -

139 IREF W Internal Reference: Velocity / Torque RPS/A

187 MECOUNTER R Master Encoder Counts (Master Encoder Input) Encoder Counts

180 MAXV R/W Maximum velocity for motion commands User Units/Sec

140-

171

NV0 - NV31 R/W User Network Variables -

66 OUTPUTS R/W Digital outputs. Bits #0 to #4 represent outputs 1 through 5 -

216 PERROR R Position Error Feedback Pls

191 PERROR_PLS R Position Error User Units

48 PGAIN_D R/W Position loop D-gain -

47 PGAIN_I R/W Position loop I-gain -

49 PGAIN_ILIM R/W Position loop I gain limit -

46 PGAIN_P R/W Position loop P-gain -

1 2 ... 38 39 40 41 42 43 44 45 46 47 48 ... 133 134

Comentarios a estos manuales

Sin comentarios

Lenze PM94P01C Manual de usuario Pagina 43

Comentarios a estos manuales

Relacionado con productos y manuales para Hardware Lenze PM94P01C