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PM94P01C42

Programming

Index Variable Access Variable Description Units

188 PHCUR R Motor phase current A(mpere)

183 QDECEL R/W Quick Deceleration for STOP MOTION QUICK statement User Units/Sec

213 RPOS R Registration position. Valid when system ﬂag F_REGISTRATION set User Units

212 RPOS_PLS R Registration position Feedback Pls

218 TA R Commanded acceleration User units/Sec

214 TPOS R/W Theoretical/commanded position User Units

219 TPOS_ADV W Theoretical/commanded position advance Feedback Pls

189 TPOS_PLS R/W Theoretical/commanded position Feedback Pls

217 TV R Commanded velocity in User Units/Sec

186 UNITS R/W User Units scale.

(1)

UserUnits/Rev

185 VEL R/W Set Velocity when in velocity mode User Units/Sec

44 VGAIN_P R/W Velocity loop P-gain -

45 VGAIN_I R/W Velocity loop I-gain -

100-

131

V0 - V31 R/W User Variables

(1)

When a “0”, (Zero), value is assigned to the variable “UNITS”, then “USER UNITS” is set to QUAD ENCODER COUNTS. This is the default setting

at the start of the program before UNITS=<value> is executed.

(2)

Any value outside +/- 10 range assigned to AOUT will be automatically trimmed to that range

Example:

AOUT=100 , AOUT will be assigned value of 10.

V0=236

VOUT=V0, VOUT will be assigned 10 and V0 will be unchanged.

2.8.2 System Flags

Flags don’t have an Index number assigned to them. They are the product of a BIT mask applied to a particular system

variable by the drive and are available to the user only from the User’s program. Table 13 lists the System Flags with

access rights and description.

Table 13: System Flags

Name Access Description

IN_A1-4, IN_B1-4, IN_C1-4 R Digital inputs . TRUE if input active, FALSE otherwise

OUT1, OUT2, OUT3, OUT4, OUT5 W Digital outputs OUTPUT1- OUTPUT5

F_ICONTROL OFF R Interface Control Status (ON/OFF) #27 in DSTATUS register

F_IN_POSITION R

TRUE when Actual Position (APOS) is within limits set by

INPOSLIM variable and motion completed

F_ENABLED R Set when drive is enabled

F_EVENTS OFF R Events Disabled Status (ON/OFF) #30 in DSTATUS register

F_MCOMPLETE R

Set when motion is completed and there is no motion commands

waiting in the Motion Queue

F_MQUEUE_FULL R Motion Queue full

F_MQUEUE_EMPTY R Motion Queue empty

F_FAULT R Set if any fault detected

F_ARITHMETIC_FLT R Arithmetic fault

F_REGISTRATION R

Set when registration mark was detected. Content RPOS variable is

valid when this ﬂag is active. Flag resets by any registration moves

MOVEPR,MOVEDR or by command REGISTRATION ON

F_MSUSPENDED R Set if motion suspended by statement MOTION SUSPEND

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Lenze PM94P01C Manual de usuario Pagina 44

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