Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Global I-Variables
66
I61
Filtered Velocity Shift
Range:
0 to 255
Units:
Bits
Default:
8
I61 controls the scaling of reported filtered velocity values for all motors in a Turbo PMAC. It does this
by telling the filtered velocity calculation routines how many bits to shift the difference between the latest
position stored in the buffer, and the position stored 16*(I60+1) servo cycles before.
by telling the filtered velocity calculation routines how many bits to shift the difference between the latest
position stored in the buffer, and the position stored 16*(I60+1) servo cycles before.
To make the filtered velocity report as counts per servo cycle with the V and <CTRL-V> commands, and
store as 1 / (Ix09*32) counts per servo cycle, I61 should be set according to the following formula:
store as 1 / (Ix09*32) counts per servo cycle, I61 should be set according to the following formula:
4
1
60
I
2
log
61
I
The following table shows the typical relationship between I60 and I61:
I60
I60+1
log
2
(I60+1)
I61
0
1
0
4
1
2
1
5
3
4
2
6
7
8
3
7
15
16
4
8
See Also:
I-variables I60, Ix09
On-line commands <CTRL-V>, V
Suggested M-variables Mxx74
Memory registers D:$0000EF, etc.
I-variables I60, Ix09
On-line commands <CTRL-V>, V
Suggested M-variables Mxx74
Memory registers D:$0000EF, etc.
I62
Internal Message Carriage Return Control
Range:
0 to 1
Units:
None
Default:
1
I62 permits the user to control whether internally generated messages sent from Turbo PMAC to the host
computer are terminated with the carriage return (<CR>) character or not. It affects only those messages
generated by a CMDx and SENDx statements (where x represents the port) in a PMAC motion or PLC
program. The ability to suppress the <CR> provides more flexibility in controlling the format display of a
terminal window or printer.
computer are terminated with the carriage return (<CR>) character or not. It affects only those messages
generated by a CMDx and SENDx statements (where x represents the port) in a PMAC motion or PLC
program. The ability to suppress the <CR> provides more flexibility in controlling the format display of a
terminal window or printer.
If I62 is set to the default value of 0, these messages are terminated with a <CR>. If I62 is set to 1, the
<CR> is suppressed. With I62 set to 1, if it desired for a Turbo PMAC program to cause a <CR> to be
sent, the SEND^M command must be used (the carriage return character is <CTRL-M>).
<CR> is suppressed. With I62 set to 1, if it desired for a Turbo PMAC program to cause a <CR> to be
sent, the SEND^M command must be used (the carriage return character is <CTRL-M>).
Note:
Do not set I62 to 1 if using dual-ported RAM ASCII communications (I58=1).
Example:
With program code:
With program code:
I62=1
; Suppress <CR> on SEND
SENDS “THE VALUE OF P1 IS “
; String sent with no <CR>
CMDS “P1”
; Response string follows on same line, no <CR>
SENDS^M ..........
; Send a <CR>
PMAC responds with:
THE VALUE OF P1 IS 42<CR>