Instruction Manual

System Variables & Flags • Variable and Flag Summary 135
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
Variable and Flag Summary
Below is a table that summarizes the system variables and flags, sorted by type. The Flag/Variable col-
umn categorizes each as a flag or a variable. The Read/Write column indicates which can be written (W)
and which can be read (R). If the variable or flag is stored in the personality module it is marked with a
“Y” in the personality column. In addition to the system variables listed below, there are other variables
associated with IQ Cam. Refer to the IQ-Series IQ-Cam Software Manual (Part Number 0013-1053-
001) for complete details.
Type Name Description Flag/
Variable
Read/
Write
Personality
Module
Accel/
Velocity
ACCEL Acceleration used to calculate MOVP
and MOVD moves
VR/WY
FVEL1 Filtered motor velocity V R N
JACCEL Jog acceleration V R/W Y
JDECEL Jog deceleration V R/W Y
JVEL Jog velocity V R/W Y
PVEL1 Peak velocity in user units per Time-
Base
VRN
SLEWEN Enables the slew rate limit for the gear
output
FR/WY
VCMD Velocity command in user units per
TimeBase
VRN
VEL Velocity used for MOVP and MOVD
moves
VR/WY
VEL1 Velocity feedback in user units per
TimeBase
VRN
VEL2 Encoder 2 velocity in user units per
TimeBase
VRN
Current IAVE Average current command in Amperes V R N
IAVG Average current trip point in Amperes V R/W Y
ICMD Current command in Amperes V R N
ILIMIT Peak current limit in Amperes V R/W Y
PICMD Peak current command in Amperes V R N
Gain FGAIN Acceleration feedforward gain for
velocity loop
VR/WY
FILTER Filter value V R/W Y
IGAIN Integral gain for the velocity loop V R/W Y
IZONE Region where KI has effect V R/W Y
KFF Velocity feedforward gain V R/W Y
KI Integral gain for the position loop V R/W Y
KP Proportional gain for the position loop V R/W Y
KPZ Proportional gain used within the
PZONE
VR/WY