Reference Manual

PMAC 2 Software Reference

PMAC I-Variable Specification 29

()()()

1998I1997I3992I*2

640

10I +++=

I10 is used to provide the “delta-time” value in the position update calculations, scaled

such that 2

– 8,388,608 – means one millisecond. Delta-time in these equations is

I10*(%value/100). The % (feedrate override) value can be controlled in any of several

ways: with the on-line ‘%’ command, with a direct write to the command ‘%’ register,

with an analog voltage input, or with a digital input frequency. The default % value is 100,

and many applications can always leave it at 100.

Note:

Even if Ix60 (servo cycle extension) has been changed from its

default value of 0 for any or all motors, the value of I10 should

reflect the time between servo interrupts, not between consecutive

servo cycle calculations.

See Also

Setting the Servo Update Time (Servo Features)

Jumpers E3-E6, E29-E33, E98

Connector J4 Pins 21-24 (PMAC-PC, -VME), J4 Pins 1 & 8 (PMAC-Lite), J3 Pins 5-8

(PMAC-STD).

I11 Programmed Move Calculation Time

Range

0 .. 8,388,607

Units

msec

Default

Remarks

I11 controls the delay from when the run signal is taken (or the move sent if executing

immediately) and when the first programmed move starts. If several PMACs need to be

run synchronously, I11 should be set the same on all of the cards. If I11 is set to zero, the

first programmed move starts as soon as the calculation is complete.

This calculation time delay is also used after any break in the continuous motion of a

motion program: a DWELL, a PSET, a WAIT, or each move if Ix92=1 (a DELAY is

technically a zero-distance move, and so does not constitute a break).

The actual delay time varies with the time base (e.g. at a value of 50, the actual delay time

will be twice the number defined here), which keeps it as a fixed distance of the master in

an external time base application. If it is desired to have the slave coordinate system start

up immediately with the master, I11 should be set to zero, and the program commanded to

run before the master starts to move.

Note:

If I11 is greater than zero, defining a definite time for calculations,

and PMAC cannot complete the calculations for the first move of a

sequence by the end of the I11 time, PMAC will terminate the

running of the program with a run-time error.