Instruction Manual

136 System Variables & Flags • Variable and Flag Summary
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
Gain
(cont.)
PGAIN Proportional gain for the velocity loop V R/W Y
PZONE Region where KPZ is used instead of
KP
VR/WY
Home ATHOME At home used in Absolute mode only F R N
HOFFS Home offset V R/W Y
HOMECMD Runs Home program when set F R/W N
HSEQCPL Home sequence complete F R N
HSWEN Set if Home Switch input enabled F R Y
HSWSTAT Current status of Home Switch input
(regardless if active open or closed)
FRN
HVEL Home velocity V R/W Y
Input and ADC1 Analog input 1 in volts V R N
Outputs ADC2 Analog input 2 in volts V R N
ADC3 Analog input 3 in volts V R N
ADC4 Analog input 4 in volts V R N
ADC5 Analog input 5 in volts V R N
DAC1 Analog output 1 in volts V W N
Interrupt FI1 Interrupt 1 flag F R/W N
FI2 Interrupt 2 flag F R/W N
FIDX1 Encoder 1 index interrupt flag F R/W N
FIDX2 Encoder 2 index interrupt flag F R/W N
I1P1 Position 1 latched by interrupt 1 in user
units
VRN
I1P2 Position 2 latched by interrupt 1 in user
units
VRN
I2P1 Position 1 latched by interrupt 2 in user
units
VRN
I2P2 Position 2 latched by interrupt 2 in user
units
VRN
IDX1 Enable flag for Encoder 1 index inter-
rupt
FR/WN
IDX2 Enable flag for Encoder 2 index inter-
rupt
FR/WN
IX1P1 Position 1 latched by Encoder 1 index
interrupt
VRN
IX1P2 Position 2 latched by Encoder 1 index
interrupt
VRN
IX2P1 Position 1 latched by Encoder 2 index
interrupt
VRN
Type Name Description Flag/
Variable
Read/
Write
Personality
Module