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2.10 System Variables and Flags Summary

Below is the table of System Variables and Flags, sorted by type. Variables can be Read-Only (R) or

Read/Write (R/W) types. System Flags are always Read Only (R).

Variable Access Variable Description Units

UNITS R/W User Units scale.**

NOTE 1

UserUnits/Rev

APOS R/W Actual motor position User Units

TPOS R Theoretical/commanded position User Units

TV R Commanded velocity in User Units/Sec

RPOS R Registration position. Valid when system flag

F_REGISTARTION set

User Units

TA R Commanded acceleration

INPOSLIM R/W

Maximum allowable deviation of position for

INPOSITION Flag to remain to be set

User Units

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

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

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

QDECEL

R/W

Quick Deceleration for STOP MOTION QUICK

statement

User Units/Sec

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

GRATIO R/W Gear Ratio between master encoder

and motor

MEPPR R/W Master Encoder resolution. Pulses

PGAIN_P R/W Position loop P-gain -

PGAIN_I R/W Position loop I-gain -

PGAIN_D R/W Position loop D-gain -

PGAIN_VFF R/W Position loop VFF (velocity feed forward) gain -

PGAIN_ILIM R/W Position loop I gain limit -

VGAIN_P R/W Velocity loop P-gain -

VGAIN_I R/W Velocity loop I-gain -

INPUTS

R Digital Inputs states. First 12 bits corresponds

to 12 SSi inputs

OUTPUTS R/W Digital outputs. First 5 bits represents outputs

From #0 to #4

INDEX R/W Lower 8 bits are used. See ASSIGN statement

for details.

PHCUR R Motor phase current A(mpere)

DSTATUS R Status flags register -

DFAULTS R Fault code register -

AIN R

Analog input. Scaled in volts.

Range form –10 to +10

V(olt)

AOUT R/W Analog output value in Volts.

Valid range from –10 to +10 (V)

NOTE 2

V(olt)

1 2 ... 26 27 28 29 30 31 32 33 34 35 36 ... 71 72

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Lenze PMSS1000 Simple Servo Manual de usuario Pagina 31

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