^1 SOFTWARE REFERENCE MANUAL Documents/Omron...Aug 10, 2012 · 1 New Manual Generated 11/27/2011 SS Curt Wilson 2 Manual updated for 1.5 version of firmware 08/10/2012 SS Curt Wilson

Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use

21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

^1 SOFTWARE REFERENCE MANUAL

^2 Power PMAC

^3Power PMAC Software Reference Manual

^4 050-PRPMAC-0S0

^5 October 25, 2016

DELTA TAU Data Systems, Inc. NEW IDEAS IN MOTION …

^ O015-E-01

http://www.deltatau.com/

Power PMAC Software Reference Manual

Copyright Information

© 2016 Delta Tau Data Systems, Inc. All rights reserved.

This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses

are unauthorized without written permission of Delta Tau Data Systems, Inc.

Information contained in this manual may be updated from time-to-time due to product

improvements, etc., and may not conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: (818) 717-5656

Fax: (818) 998-7807

Email: [email protected]

Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers

contain static sensitive components that can be damaged by incorrect handling. When

installing or handling Delta Tau Data Systems, Inc. products, avoid contact with highly

insulated materials. Only qualified personnel should be allowed to handle this

equipment.

In the case of industrial applications, we expect our products to be protected from

hazardous or conductive materials and/or environments that could cause harm to the

controller by damaging components or causing electrical shorts. When our products are

used in an industrial environment, install them into an industrial electrical cabinet or

industrial PC to protect them from excessive or corrosive moisture, abnormal ambient

temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are

directly exposed to hazardous or conductive materials and/or environments, we cannot

guarantee their operation.

mailto:[email protected]://www.deltatau.com/


Safety Instructions

Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified

personnel are persons who are familiar with the transport, assembly, installation, and operation of

equipment. The qualified personnel must know and observe the following standards and regulations:

IEC364resp.CENELEC HD 384 or DIN VDE 0100

IEC report 664 or DIN VDE 0110

National regulations for safety and accident prevention or VBG 4

Incorrect handling of products can result in injury and damage to persons and machinery. Strictly adhere

to the installation instructions. Electrical safety is provided through a low-resistance earth connection. It

is vital to ensure that all system components are connected to earth ground.

This product contains components that are sensitive to static electricity and can be damaged by incorrect

handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the

product on a conductive surface. Discharge any possible static electricity build-up by touching an

unpainted, metal, grounded surface before touching the equipment.

Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product has

electrically charged components and hot surfaces. Control and power cables can carry a high voltage,

even when the motor is not rotating. Never disconnect or connect the product while the power source is

energized to avoid electric arcing.

A Warning identifies hazards that could result in personal injury or

death. It precedes the discussion of interest.

Warning

Caution

A Caution identifies hazards that could result in equipment damage. It

precedes the discussion of interest.

Note

A Note identifies information critical to the understanding or use of

the equipment. It follows the discussion of interest.


REVISION HISTORY

REV. DESCRIPTION DATE CHG APPVD

1 New Manual Generated 11/27/2011 SS Curt Wilson

2 Manual updated for 1.5 version of firmware 08/10/2012 SS Curt Wilson




6 Added Omron Part Number 7/15/2016 Sgm Sgm

7 Manual update for 2.2 version of firmware 10/25/2016 SS Curt Wilson


Table of Contents vi

Table of Contents

POWER PMAC COMMAND SYNTAX SUMMARY .......................................................................... 53

Notes ...................................................................................................................................................... 53 Definitions.............................................................................................................................................. 53 Mathematical Elements ......................................................................................................................... 54

Arithmetic Operators ...................................................................................................................... 54 Bit-by-Bit Logical Operators .......................................................................................................... 54 Standard Assignment Operators...................................................................................................... 54 Synchronous Assignment Operators ............................................................................................... 54 Conditional Comparators ................................................................................................................ 55 Conditional Combinatorial Operators ............................................................................................. 55 Scalar Mathematical Functions ....................................................................................................... 55 Vector Mathematical Functions ...................................................................................................... 56 Matrix Mathematical Functions ...................................................................................................... 56 Transformation Matrix Functions ................................................................................................... 57 Character (Byte) Buffer Functions .................................................................................................. 57 String Manipulation Functions........................................................................................................ 57

On-Line Commands ............................................................................................................................... 58 On-Line Global Commands ............................................................................................................ 58 On-Line Coordinate-System Commands ........................................................................................ 61 On-Line Motor Commands ............................................................................................................. 63

Buffered Script Program Commands ..................................................................................................... 66 Move Commands ............................................................................................................................ 66 Move Mode Commands .................................................................................................................. 66 Axis Attribute Commands .............................................................................................................. 66 Move Attribute Commands ............................................................................................................. 67 Cutter (Tool) Radius Compensation Commands ............................................................................ 67 Variable Assignment Commands.................................................................................................... 67 Program Logic Control ................................................................................................................... 67 Script PLC Execution Control ........................................................................................................ 69 C PLC Execution Control ............................................................................................................... 69 Port Communications ...................................................................................................................... 69 Direct Motor Commands ................................................................................................................ 69 Direct Coordinate-System Commands............................................................................................ 70 Program Query Commands ............................................................................................................. 71

Reported Errors for Illegal Commands ................................................................................................. 72

POWER PMAC SAVED DATA STRUCTURE ELEMENTS ............................................................. 74

Acc5E[i]. Saved Data Structure Elements .................................................................................................. 74

Acc5E3[i]. Saved Data Structure Elements ................................................................................................ 74

Acc5EP3[i]. Saved Data Structure Elements .............................................................................................. 74

Acc11C[i]. Saved Data Structure Elements ................................................................................................ 74

Acc11E[i]. Saved Data Structure Elements ................................................................................................ 74


Table of Contents vii


Acc24C2[i]. Saved Data Structure Elements .............................................................................................. 75

Acc24C2A[i]. Saved Data Structure Elements ........................................................................................... 75

Acc24E2[i]. Saved Data Structure Elements .............................................................................................. 75

Acc24E2A[i]. Saved Data Structure Elements ........................................................................................... 75

Acc24E2S[i]. Saved Data Structure Elements ............................................................................................ 75










Acc84B[i]. Saved Data Structure Elements ................................................................................................ 76



Acc84E[i]. Multi-Channel Setup Elements ............................................................................................ 78 Acc84E[i].SerialEncCtrl ................................................................................................................. 78

Acc84E[i]. Single-Channel Setup Elements .......................................................................................... 85 Acc84E[i].Chan[j].SerialEncCmd .................................................................................................. 85

Acc84S[i]. Saved Data Structure Elements ................................................................................................ 96

AdcDemux. Saved Data Structure Elements .............................................................................................. 97

AdcDemux.Address[i] .................................................................................................................... 97 AdcDemux.ConvertCode[i] ............................................................................................................ 98 AdcDemux.Enable .......................................................................................................................... 99

BrickAC. Saved Data Structure Elements ................................................................................................ 100

BrickAC. Multi-Channel Saved Setup Elements .................................................................................. 100 BrickAC.MonitorPeriod ................................................................................................................ 100


Table of Contents viii

BrickAC.SinglePhaseIn ................................................................................................................ 101 BrickAC.UnderVoltageDisplay .................................................................................................... 101 BrickAC.UnderVoltageWarnOnly ................................................................................................ 102

BrickAC. Single-Channel Saved Setup Elements ................................................................................. 103 BrickAC.Chan[j].I2tWarnOnly ..................................................................................................... 103

BrickLV. Saved Data Structure Elements ................................................................................................. 104

BrickLV. Multi-Channel Saved Setup Elements .................................................................................. 104 BrickLV.MonitorPeriod ................................................................................................................ 104

BrickLV. Single-Channel Saved Setup Elements ................................................................................. 105 BrickLV.Chan[j].I2tWarnOnly ..................................................................................................... 105 BrickLV.Chan[j].TwoPhaseMode ................................................................................................ 106

BufIo[i]. Buffered Input/Output Saved Data Structure Elements ............................................................. 107

BufIo[i].InScans ............................................................................................................................ 107 BufIo[i].pIn ................................................................................................................................... 107 BufIo[i].pOut ................................................................................................................................ 109

CamTable[m]. Saved Data Structure Elements ......................................................................................... 111

CamTable[m].DacData[i] .............................................................................................................. 111 CamTable[m].DacEnable .............................................................................................................. 111 CamTable[m].DacGain ................................................................................................................. 112 CamTable[m].DacSf ..................................................................................................................... 112 CamTable[m].Dx .......................................................................................................................... 113 CamTable[m].MaxDac .................................................................................................................. 113 CamTable[m].MinPosError .......................................................................................................... 113 CamTable[m].Nx .......................................................................................................................... 114 CamTable[m].OutBits ................................................................................................................... 114 CamTable[m].OutData[i] .............................................................................................................. 115 CamTable[m].OutLeftShift ........................................................................................................... 115 CamTable[m].PosBias .................................................................................................................. 116 CamTable[m].PosData[i] .............................................................................................................. 116 CamTable[m].PosSf ...................................................................................................................... 117 CamTable[m].pOut ....................................................................................................................... 117 CamTable[m].pOutBuf ................................................................................................................. 118 CamTable[m].SlewPosOffset ........................................................................................................ 119 CamTable[m].SlewX0 .................................................................................................................. 119 CamTable[m].Source .................................................................................................................... 120 CamTable[m].Target ..................................................................................................................... 120 CamTable[m].X0 .......................................................................................................................... 121

Clipper[i]. Saved Data Structure Elements ............................................................................................... 121

CompTable[m]. Saved Data Structure Elements ...................................................................................... 122

CompTable[m].Ctrl ....................................................................................................................... 122 CompTable[m].DacEnable ............................................................................................................ 123 CompTable[m].DacGain ............................................................................................................... 124 CompTable[m].DacTarget ............................................................................................................ 124 CompTable[m].Data[i] .................................................................................................................. 125 CompTable[m].Data[j][i] .............................................................................................................. 126


Table of Contents ix

CompTable[m].Data[k][j][i] .......................................................................................................... 127 CompTable[m].Dx[n] .................................................................................................................... 128 CompTable[m].MaxDac ............................................................................................................... 128 CompTable[m].MinPosError ........................................................................................................ 129 CompTable[m].Nx[n] .................................................................................................................... 129 CompTable[m].OutCtrl ................................................................................................................. 130 CompTable[m].Sf[q] ..................................................................................................................... 131 CompTable[m].Source[n] ............................................................................................................. 131 CompTable[m].SourceCtrl ............................................................................................................ 132 CompTable[m].Target[q] .............................................................................................................. 132 CompTable[m].X0[n] .................................................................................................................... 133

Coord[x]. Saved Data Structure Elements ................................................................................................ 135

Coord[x].AbortAllMode ............................................................................................................... 135 Coord[x].AbortTimeBase .............................................................................................................. 136 Coord[x].AddedDwellTime .......................................................................................................... 138 Coord[x].AltFeedMode ................................................................................................................. 138 Coord[x].AltFeedRate ................................................................................................................... 139 Coord[x].AutoTxyzScale .............................................................................................................. 140 Coord[x].CCAddedArcBp ............................................................................................................ 141 Coord[x].CCCtrl............................................................................................................................ 142 Coord[x].CCDistance .................................................................................................................... 143 Coord[x].CCSize ........................................................................................................................... 144 Coord[x].Control[i] ....................................................................................................................... 145 Coord[x].CornerAccel ................................................................................................................... 146 Coord[x].CornerBlendBp .............................................................................................................. 148 Coord[x].CornerDwellBp .............................................................................................................. 149 Coord[x].CornerError .................................................................................................................... 150 Coord[x].CornerRadius ................................................................................................................. 152 Coord[x].Dprog ............................................................................................................................. 153 Coord[x].EndDelay ....................................................................................................................... 154 Coord[x].FeedHoldSlew ............................................................................................................... 155 Coord[x].FeedTime ....................................................................................................................... 156 Coord[x].FProtect ......................................................................................................................... 156 Coord[x].GoBack .......................................................................................................................... 157 Coord[x].Gprog ............................................................................................................................. 158 Coord[x].HomeRequired ............................................................................................................... 159 Coord[x].InPosTimeout ................................................................................................................ 159 Coord[x].LHDistance .................................................................................................................... 160 Coord[x].MaxCirAccel ................................................................................................................. 162 Coord[x].MaxFeedrate .................................................................................................................. 163 Coord[x].MinArcLen .................................................................................................................... 164 Coord[x].Mprog ............................................................................................................................ 164 Coord[x].Ndisplay ......................................................................................................................... 165 Coord[x].NoBlend ......................................................................................................................... 165 Coord[x].NoCornerBp .................................................................................................................. 166 Coord[x].pDesTimeBase ............................................................................................................... 167 Coord[x].PosRollOver[i] ............................................................................................................... 167 Coord[x].RadiusErrorLimit ........................................................................................................... 168 Coord[x].RapidVelCtrl .................................................................................................................. 169 Coord[x].SegLinToPvt .................................................................................................................. 170


Table of Contents x

Coord[x].SegMoveTime ............................................................................................................... 171 Coord[x].SegOverrideSlew ........................................................................................................... 172 Coord[x].SoftLimitStopDis ........................................................................................................... 173 Coord[x].SplineTimeRotate .......................................................................................................... 173 Coord[x].StepMode ....................................................................................................................... 173 Coord[x].SyncOps ......................................................................................................................... 175 Coord[x].Ta ................................................................................................................................... 176 Coord[x].Td ................................................................................................................................... 177 Coord[x].TimeBaseSlew ............................................................................................................... 178 Coord[x].Tm.................................................................................................................................. 179 Coord[x].TPCoords ....................................................................................................................... 179 Coord[x].Tprog ............................................................................................................................. 180 Coord[x].TPSize............................................................................................................................ 180 Coord[x].Ts ................................................................................................................................... 182

ECAT[i]. Saved Data Structure Elements ................................................................................................. 183

ECAT[i]. Network General Configuration Elements........................................................................... 183 ECAT[i].AmpEnaTimeout ............................................................................................................ 183 ECAT[i].DCRefBand .................................................................................................................... 183 ECAT[i].DCRefMinus .................................................................................................................. 184 ECAT[i].DCRefPlus ..................................................................................................................... 184 ECAT[i].DCRefSlave ................................................................................................................... 185 ECAT[i].DistrClocks .................................................................................................................... 185 ECAT[i].DistrClocksCount .......................................................................................................... 185 ECAT[i].InCount .......................................................................................................................... 186 ECAT[i].IOCount ......................................................................................................................... 186 ECAT[i].LPIOCount ..................................................................................................................... 187 ECAT[i].LPnotLRW ..................................................................................................................... 187 ECAT[i].LPStateCheck ................................................................................................................ 187 ECAT[i].LPStateCheckCount ....................................................................................................... 188 ECAT[i].OutCount ........................................................................................................................ 188 ECAT[i].RTnotLRW .................................................................................................................... 189 ECAT[i].RTStateCheck ................................................................................................................ 189 ECAT[i].RTStateCheckCount ...................................................................................................... 189 ECAT[i].ServoExtension .............................................................................................................. 190 ECAT[i].SlaveCount ..................................................................................................................... 190

ECAT[i]. Cyclic I/O Configuration Elements ...................................................................................... 192 ECAT[i].IO[k].BitLength ............................................................................................................. 192 ECAT[i].IO[k].BitPosition ............................................................................................................ 192 ECAT[i].IO[k].Index ..................................................................................................................... 192 ECAT[i].IO[k].Input ..................................................................................................................... 193 ECAT[i].IO[k].Slave ..................................................................................................................... 193 ECAT[i].IO[k].SubIndex .............................................................................................................. 193

ECAT[i]. Low-Priority I/O Module Configuration Elements .............................................................. 194 ECAT[i].LPIO[k].BitLength ......................................................................................................... 194 ECAT[i].LPIO[k].BitPosition ....................................................................................................... 194 ECAT[i].LPIO[k].Index ................................................................................................................ 195 ECAT[i].LPIO[k].Input ................................................................................................................. 195 ECAT[i].LPIO[k].Slave ................................................................................................................ 195 ECAT[i].LPIO[k].SubIndex .......................................................................................................... 196


Table of Contents xi

ECAT[i] Slave Configuration Elements .............................................................................................. 196 ECAT[i].Slave[j].Alias ................................................................................................................. 196 ECAT[i].Slave[j].AssignActivate ................................................................................................. 197 ECAT[i].Slave[j].Enable ............................................................................................................... 197 ECAT[i].Slave[j].Position ............................................................................................................. 197 ECAT[i].Slave[j].ProductCode ..................................................................................................... 198 ECAT[i].Slave[j].Sync0Cycle ...................................................................................................... 198 ECAT[i].Slave[j].Sync0Shift ........................................................................................................ 198 ECAT[i].Slave[j].Sync1Cycle ...................................................................................................... 199 ECAT[i].Slave[j].Sync1Shift ........................................................................................................ 199 ECAT[i].Slave[j].VendorID.......................................................................................................... 199

ECAT[i]. Slave Process Data Object Configuration Elements ........................................................... 201 ECAT[i].Slave[j].PDO[k].BitLength ............................................................................................ 201 ECAT[i].Slave[j].PDO[k].Index ................................................................................................... 201 ECAT[i].Slave[j].PDO[k].Input .................................................................................................... 201 ECAT[i].Slave[j].PDO[k].SubIndex ............................................................................................. 202

ECAT[i]. Slave PDO Mapping Configuration Elements ..................................................................... 202 ECAT[i].Slave[j].PDOMapping[m].Index .................................................................................... 202 ECAT[i].Slave[j].PDOMapping[m].PDOCount ........................................................................... 203 ECAT[i].Slave[j].PDOMapping[m].pPDO ................................................................................... 203

ECAT[i]. Slave Synchronization Manager Configuration Elements ................................................... 204 ECAT[i].Slave[j].SyncManager[n].Dir ......................................................................................... 204 ECAT[i].Slave[j].SyncManager[n].Index ..................................................................................... 204 ECAT[i].Slave[j].SyncManager[n].PDOMappingCount .............................................................. 204 ECAT[i].Slave[j].SyncManager[n].pPDOMapping...................................................................... 205 ECAT[i].Slave[j].SyncManager[n].WatchdogMode .................................................................... 205

EncTable[n]. Saved Data Structure Elements ........................................................................................... 206

EncTable[n].CosBias .................................................................................................................... 206 EncTable[n].CoverSerror .............................................................................................................. 207 EncTable[n].EncBias .................................................................................................................... 208 EncTable[n].index1 ....................................................................................................................... 209 EncTable[n].index2 ....................................................................................................................... 212 EncTable[n].index3 ....................................................................................................................... 215 EncTable[n].index4 ....................................................................................................................... 217 EncTable[n].index5 ....................................................................................................................... 219 EncTable[n].index6 ....................................................................................................................... 220 EncTable[n].MaxDelta .................................................................................................................. 221 EncTable[n].pEnc ......................................................................................................................... 222 EncTable[n].pEnc1 ....................................................................................................................... 226 EncTable[n].PrevDelta .................................................................................................................. 228 EncTable[n].ScaleFactor ............................................................................................................... 229 EncTable[n].SinBias ..................................................................................................................... 231 EncTable[n].TanHalfPhi ............................................................................................................... 232 EncTable[n].type ........................................................................................................................... 233

Gate1[i]. (PMAC2-Style Servo IC) Saved Data Structure Elements ........................................................ 237

Gate1[i]. Multi-Channel Setup Elements ............................................................................................ 237 Gate1[i].AdcStrobe ....................................................................................................................... 237 Gate1[i].ClockCtrl ........................................................................................................................ 238


Table of Contents xii

Gate1[i].DacStrobe ....................................................................................................................... 239 Gate1[i].HardwareClockCtrl ......................................................................................................... 240 Gate1[i].PhaseClockDiv ............................................................................................................... 242 Gate1[i].PhaseServoDir ................................................................................................................ 243 Gate1[i].PwmCtrl .......................................................................................................................... 243 Gate1[i].PwmDeadTime ............................................................................................................... 244 Gate1[i].PwmPeriod ...................................................................................................................... 245 Gate1[i].ServoClockDiv ............................................................................................................... 247

Gate1[i]. Channel-Specific Setup Elements ........................................................................................ 249 Gate1[i].Chan[j].CaptCtrl ............................................................................................................. 249 Gate1[i].Chan[j].CaptFlagSel ....................................................................................................... 250 Gate1[i].Chan[j].Ctrl ..................................................................................................................... 251 Gate1[i].Chan[j].EncCtrl ............................................................................................................... 252 Gate1[i].Chan[j].Equ1Ena ............................................................................................................ 253 Gate1[i].Chan[j].GatedIndexSel ................................................................................................... 254 Gate1[i].Chan[j].IndexGateState .................................................................................................. 255 Gate1[i].Chan[j].OneOverTEna .................................................................................................... 256 Gate1[i].Chan[j].OutputMode ....................................................................................................... 257 Gate1[i].Chan[j].OutputPol ........................................................................................................... 257 Gate1[i].Chan[j].PfmDirPol .......................................................................................................... 258

Gate2[i]. (PMAC2-Style MACRO IC) Saved Data Structure Elements .................................................. 260

Gate2[i]. Multi-Channel Setup Elements ............................................................................................ 260 Gate2[i].AdcStrobe ....................................................................................................................... 260 Gate2[i].ClockCtrl ........................................................................................................................ 260 Gate2[i].DacStrobe ....................................................................................................................... 261 Gate2[i].DispDir ........................................................................................................................... 262 Gate2[i].DispMode ....................................................................................................................... 262 Gate2[i].DispPol ........................................................................................................................... 262 Gate2[i].GrayCodeBitLenCtrl....................................................................................................... 263 Gate2[i].HardwareClockCtrl ......................................................................................................... 263 Gate2[i].HighIoDir ........................................................................................................................ 265 Gate2[i].HighIoMode .................................................................................................................... 266 Gate2[i].HighIoPol ........................................................................................................................ 266 Gate2[i].LowIoDir ........................................................................................................................ 266 Gate2[i].LowIoMode .................................................................................................................... 267 Gate2[i].LowIoPol ........................................................................................................................ 267 Gate2[i].MacroEnable ................................................................................................................... 268 Gate2[i].MacroMode .................................................................................................................... 269 Gate2[i].MuxDir ........................................................................................................................... 270 Gate2[i].MuxMode ....................................................................................................................... 271 Gate2[i].MuxPol ........................................................................................................................... 272 Gate2[i].PhaseClockDiv ............................................................................................................... 272 Gate2[i].PhaseServoDir ................................................................................................................ 273 Gate2[i].PwmCtrl .......................................................................................................................... 274 Gate2[i].PwmDeadTime ............................................................................................................... 274 Gate2[i].PwmPeriod ...................................................................................................................... 276 Gate2[i].ServoClockDiv ............................................................................................................... 277

Gate2[i]. Channel-Specific Setup Elements ........................................................................................ 279 Gate2[i].Chan[j].CaptCtrl ............................................................................................................. 279


Table of Contents xiii

Gate2[i].Chan[j].CaptFlagSel ....................................................................................................... 280 Gate2[i].Chan[j].Ctrl ..................................................................................................................... 281 Gate2[i].Chan[j].EncCtrl ............................................................................................................... 282 Gate2[i].Chan[j].Equ1Ena ............................................................................................................ 283 Gate2[i].Chan[j].GatedIndexSel ................................................................................................... 284 Gate2[i].Chan[j].IndexGateState .................................................................................................. 285 Gate2[i].Chan[j].OutputMode ....................................................................................................... 286 Gate2[i].Chan[j].OutputPol ........................................................................................................... 287 Gate2[i].Chan[j].PfmDirPol .......................................................................................................... 288

Gate3[i]. (PMAC3-Style IC) Saved Data Structure Elements .................................................................. 289

Gate3[i].Multi-Channel Setup Elements ............................................................................................. 290 Gate3[i].AdcAmpClockDiv .......................................................................................................... 290 Gate3[i].AdcAmpCtrl ................................................................................................................... 291 Gate3[i].AdcAmpDelay ................................................................................................................ 291 Gate3[i].AdcAmpHeaderBits ........................................................................................................ 292 Gate3[i].AdcAmpStrobe ............................................................................................................... 292 Gate3[i].AdcAmpUtoS ................................................................................................................. 293 Gate3[i].AdcEncClockDiv ............................................................................................................ 294 Gate3[i].AdcEncCtrl ..................................................................................................................... 295 Gate3[i].AdcEncDelay .................................................................................................................. 295 Gate3[i].AdcEncHeaderBits ......................................................................................................... 296 Gate3[i].AdcEncStrobe ................................................................................................................. 296 Gate3[i].AdcEncUtoS ................................................................................................................... 297 Gate3[i].ClockPol ......................................................................................................................... 297 Gate3[i].DacClockDiv .................................................................................................................. 298 Gate3[i].DacStrobe ....................................................................................................................... 299 Gate3[i].EncClockDiv .................................................................................................................. 300 Gate3[i].EncLatchDelay ............................................................................................................... 301 Gate3[i].FiltClockDiv ................................................................................................................... 302 Gate3[i].GpioCtrl .......................................................................................................................... 303 Gate3[i].GpioDir[j] ....................................................................................................................... 304 Gate3[i].GpioMode[j] ................................................................................................................... 304 Gate3[i].GpioPol[j] ....................................................................................................................... 306 Gate3[i].HardwareClockCtrl ......................................................................................................... 306 Gate3[i].MacroEnableA ................................................................................................................ 307 Gate3[i].MacroEnableB ................................................................................................................ 308 Gate3[i].MacroModeA .................................................................................................................. 309 Gate3[i].MacroModeB .................................................................................................................. 310 Gate3[i].PfmClockDiv .................................................................................................................. 312 Gate3[i].PhaseClockDiv ............................................................................................................... 313 Gate3[i].PhaseClockMult .............................................................................................................. 314 Gate3[i].PhaseFreq ........................................................................................................................ 315 Gate3[i].PhaseServoClockCtrl ...................................................................................................... 316 Gate3[i].PhaseServoDir ................................................................................................................ 316 Gate3[i].ResolverCtrl .................................................................................................................... 317 Gate3[i].SerialEncCtrl .................................................................................................................. 319 Gate3[i].ServoClockDiv ............................................................................................................... 325

Gate3[i]. Channel-Specific Setup Elements ........................................................................................ 327 Gate3[i].Chan[j].AdcOffset[k] ...................................................................................................... 327


Table of Contents xiv

Gate3[i].Chan[j].AtanEna ............................................................................................................. 327 Gate3[i].Chan[j].CaptCtrl ............................................................................................................. 328 Gate3[i].Chan[j].CaptFlagChan .................................................................................................... 330 Gate3[i].Chan[j].CaptFlagSel ....................................................................................................... 330 Gate3[i].Chan[j].EncCtrl ............................................................................................................... 331 Gate3[i].Chan[j].Equ1Ena ............................................................................................................ 332 Gate3[i].Chan[j].EquOutMask ...................................................................................................... 333 Gate3[i].Chan[j].EquOutPol ......................................................................................................... 334 Gate3[i].Chan[j].FlagFilt2Ena ...................................................................................................... 334 Gate3[i].Chan[j].GatedIndexSel ................................................................................................... 335 Gate3[i].Chan[j].InCtrl ................................................................................................................. 336 Gate3[i].Chan[j].IndexDemuxEna ................................................................................................ 337 Gate3[i].Chan[j].IndexGateState .................................................................................................. 337 Gate3[i].Chan[j].OutCtrl ............................................................................................................... 338 Gate3[i].Chan[j].OutputMode ....................................................................................................... 339 Gate3[i].Chan[j].OutputPol ........................................................................................................... 340 Gate3[i].Chan[j].PackInData ........................................................................................................ 341 Gate3[i].Chan[j].PackOutData ...................................................................................................... 342 Gate3[i].Chan[j].Pfm .................................................................................................................... 344 Gate3[i].Chan[j].PfmDirPol .......................................................................................................... 345 Gate3[i].Chan[j].PfmFormat ......................................................................................................... 346 Gate3[i].Chan[j].PfmWidth .......................................................................................................... 347 Gate3[i].Chan[j].PwmDeadTime .................................................................................................. 347 Gate3[i].Chan[j].PwmFreqMult .................................................................................................... 348 Gate3[i].Chan[j].SerialEncCmd .................................................................................................... 350 Gate3[i].Chan[j].SerialEncEna ..................................................................................................... 357 Gate3[i].Chan[j].TimerMode ........................................................................................................ 357

GateIo[i]. Saved Data Structure Elements ................................................................................................ 360

GateIo[i].Init.CtrlReg .................................................................................................................... 360 GateIo[i].Init.DataReg0[j] ............................................................................................................. 361 GateIo[i].Init.DataReg64[j] ........................................................................................................... 361 GateIo[i].Init.DataReg128[j] ......................................................................................................... 362 GateIo[i].Init.DataReg192[j] ......................................................................................................... 363 GateIo[i].Init.IntrReg64 ................................................................................................................ 364 GateIo[i].Init.IntrReg128 .............................................................................................................. 365 GateIo[i].Init.IntrReg192 .............................................................................................................. 366

Macro. Saved Data Structure Elements .................................................................................................... 367

Macro.IOTimeout ......................................................................................................................... 367 Macro.TestMaxErrors ................................................................................................................... 367 Macro.TestPeriod .......................................................................................................................... 368 Macro.TestReqdSynchs ................................................................................................................ 368

Motor[x]. Saved Data Structure Elements ................................................................................................ 370

Motor[x].AbortTa .......................................................................................................................... 370 Motor[x].AbortTs .......................................................................................................................... 371 Motor[x].AbsPhasePosForce ........................................................................................................ 371 Motor[x].AbsPhasePosFormat ...................................................................................................... 372 Motor[x].AbsPhasePosOffset ........................................................................................................ 374


Table of Contents xv

Motor[x].AbsPhasePosSf .............................................................................................................. 376 Motor[x].AbsPosFormat ............................................................................................................... 377 Motor[x].AbsPosSf ....................................................................................................................... 379 Motor[x].AdcMask ........................................................................................................................ 380 Motor[x].AdvGain ........................................................................................................................ 380 Motor[x].AmpEnableBit ............................................................................................................... 381 Motor[x].AmpFaultBit .................................................................................................................. 382 Motor[x].AmpFaultLevel .............................................................................................................. 382 Motor[x].AuxFaultBit ................................................................................................................... 383 Motor[x].AuxFaultLevel ............................................................................................................... 384 Motor[x].AuxFaultLimit ............................................................................................................... 385 Motor[x].BlHysteresis ................................................................................................................... 386 Motor[x].BlSize ............................................................................................................................ 386 Motor[x].BlSlewRate .................................................................................................................... 387 Motor[x].BrakeOffDelay .............................................................................................................. 387 Motor[x].BrakeOnDelay ............................................................................................................... 389 Motor[x].BrakeOutBit ................................................................................................................... 390 Motor[x].CaptControl ................................................................................................................... 390 Motor[x].CaptEnaBit .................................................................................................................... 391 Motor[x].CaptEnaInvert ................................................................................................................ 392 Motor[x].CaptFlagBit .................................................................................................................... 392 Motor[x].CaptFlagInvert ............................................................................................................... 393 Motor[x].CaptPosLeftShift ........................................................................................................... 394 Motor[x].CaptPosRightShift ......................................................................................................... 395 Motor[x].CaptPosRound ............................................................................................................... 397 Motor[x].CaptToggle .................................................................................................................... 397 Motor[x].CaptureMode ................................................................................................................. 398 Motor[x].CascadeMode ................................................................................................................ 399 Motor[x].CmdMotor ..................................................................................................................... 399 Motor[x].Control[i] ....................................................................................................................... 400 Motor[x].Ctrl ................................................................................................................................. 402 Motor[x].CurrentNullPeriod ......................................................................................................... 402 Motor[x].CurrentScale .................................................................................................................. 404 Motor[x].DacBias .......................................................................................................................... 405 Motor[x].DacShift ......................................................................................................................... 405 Motor[x].DtOverRotorTc .............................................................................................................. 405 Motor[x].EcatAmpFaultLimit ....................................................................................................... 406 Motor[x].EncLossBit .................................................................................................................... 407 Motor[x].EncLossLevel ................................................................................................................ 408 Motor[x].EncLossLimit ................................................................................................................ 409 Motor[x].EncType ......................................................................................................................... 409 Motor[x].ExtraMotors ................................................................................................................... 410 Motor[x].FatalFeLimit .................................................................................................................. 411 Motor[x].FaultMode ...................................................................................................................... 412 Motor[x].GantrySlewRate ............................................................................................................. 413 Motor[x].HomeOffset ................................................................................................................... 414 Motor[x].HomeVel ........................................................................................................................ 414 Motor[x].I2tSet.............................................................................................................................. 415 Motor[x].I2tTrip ............................................................................................................................ 417 Motor[x].IaBias ............................................................................................................................. 419 Motor[x].IbBias ............................................................................................................................. 420


Table of Contents xvi

Motor[x].IdCmd ............................................................................................................................ 421 Motor[x].IiGain ............................................................................................................................. 421 Motor[x].InPosBand ...................................................................................................................... 422 Motor[x].InPosTime ...................................................................................................................... 422 Motor[x].InvAmax ........................................................................................................................ 423 Motor[x].InvDmax ........................................................................................................................ 424 Motor[x].InvJmax ......................................................................................................................... 425 Motor[x].IpbGain .......................................................................................................................... 426 Motor[x].IpfGain ........................................................................................................................... 426 Motor[x].IxCoupleGain ................................................................................................................ 427 Motor[x].JogOffset ........................................................................................................................ 428 Motor[x].JogSpeed ........................................................................................................................ 428 Motor[x].JogTa ............................................................................................................................. 428 Motor[x].JogTs.............................................................................................................................. 429 Motor[x].LimitBits ........................................................................................................................ 430 Motor[x].MasterCtrl ...................................................................................................................... 432 Motor[x].MasterMaxAccel ........................................................................................................... 433 Motor[x].MasterMaxSpeed ........................................................................................................... 435 Motor[x].MasterPosSf ................................................................................................................... 436 Motor[x].MaxDac ......................................................................................................................... 437 Motor[x].MaxPos .......................................................................................................................... 439 Motor[x].MaxSpeed ...................................................................................................................... 439 Motor[x].MinPos ........................................................................................................................... 440 Motor[x].MotorMode .................................................................................................................... 441 Motor[x].MotorNodeOffset .......................................................................................................... 442 Motor[x].pAbsPhasePos ................................................................................................................ 443 Motor[x].pAbsPos ......................................................................................................................... 444 Motor[x].pAdc .............................................................................................................................. 445 Motor[x].pAmpEnable .................................................................................................................. 446 Motor[x].pAmpFault ..................................................................................................................... 447 Motor[x].pAuxFault ...................................................................................................................... 448 Motor[x].pBrakeOut ...................................................................................................................... 450 Motor[x].pBufPos ......................................................................................................................... 451 Motor[x].pBufPos2 ....................................................................................................................... 452 Motor[x].pCaptEna ....................................................................................................................... 452 Motor[x].pCaptFlag ...................................................................................................................... 453 Motor[x].pCaptPos ........................................................................................................................ 454 Motor[x].pCascadeCmd ................................................................................................................ 455 Motor[x].Pdi .................................................................................................................................. 456 Motor[x].pDac ............................................................................................................................... 457 Motor[x].pEnc ............................................................................................................................... 458 Motor[x].pEnc2 ............................................................................................................................. 459 Motor[x].pEncCtrl ......................................................................................................................... 460 Motor[x].pEncLoss ....................................................................................................................... 460 Motor[x].pEncStatus ..................................................................................................................... 462 Motor[x].PhaseCtrl ........................................................................................................................ 462 Motor[x].PhaseEncLeftShift ......................................................................................................... 465 Motor[x].PhaseEncRightShift ....................................................................................................... 466 Motor[x].PhaseFindingDac ........................................................................................................... 467 Motor[x].PhaseFindingTime ......................................................................................................... 467 Motor[x].PhaseLoadEncLeftShift ................................................................................................. 468


Table of Contents xvii

Motor[x].PhaseLoadEncRightShift ............................................................................................... 469 Motor[x].PhaseMode .................................................................................................................... 470 Motor[x].PhaseOffset .................................................................................................................... 472 Motor[x].PhasePosSf .................................................................................................................... 474 Motor[x].PhaseSplineCtrl ............................................................................................................. 475 Motor[x].pLimits ........................................................................................................................... 476 Motor[x].pMasterEnc .................................................................................................................... 477 Motor[x].pMotorNode .................................................................................................................. 478 Motor[x].Pni .................................................................................................................................. 479 Motor[x].PosReportMode ............................................................................................................. 480 Motor[x].PosSf .............................................................................................................................. 480 Motor[x].PosUnit .......................................................................................................................... 481 Motor[x].Pos2Sf ............................................................................................................................ 482 Motor[x].Pos2Unit ........................................................................................................................ 483 Motor[x].PowerOnMode ............................................................................................................... 484 Motor[x].pPhaseEnc ...................................................................................................................... 485 Motor[x].pPhaseLoadEnc ............................................................................................................. 486 Motor[x].PreFilterEna ................................................................................................................... 487 Motor[x].ProgJogPos .................................................................................................................... 487 Motor[x].pSineTable ..................................................................................................................... 488 Motor[x].pVoltSineTable .............................................................................................................. 488 Motor[x].PwmDbComp ................................................................................................................ 489 Motor[x].PwmDbI ......................................................................................................................... 490 Motor[x].PwmSf ........................................................................................................................... 490 Motor[x].RapidSpeedSel ............................................................................................................... 491 Motor[x].ServoCaptTimeOffset .................................................................................................... 492 Motor[x].ServoCtrl ........................................................................................................................ 493 Motor[x].SlewMasterPosSf ........................................................................................................... 494 Motor[x].SlipGain ......................................................................................................................... 495 Motor[x].SoftLimitOffset .............................................................................................................. 496 Motor[x].Stime .............................................................................................................................. 497 Motor[x].TraceSize ....................................................................................................................... 497 Motor[x].WarnFeLimit ................................................................................................................. 498

Motor Servo Loop Term Elements ....................................................................................................... 499 Motor[x].Servo.BreakPosErr ........................................................................................................ 499 Motor[x].Servo.EstMinDac ........................................................................................................... 500 Motor[x].Servo.EstTime ............................................................................................................... 500 Motor[x].Servo.Kafb ..................................................................................................................... 501 Motor[x].Servo.Kaff ..................................................................................................................... 502 Motor[x].Servo.Kai ....................................................................................................................... 502 Motor[x].Servo.Kbi ....................................................................................................................... 503 Motor[x].Servo.Kbreak ................................................................................................................. 504 Motor[x].Servo.Kci ....................................................................................................................... 505 Motor[x].Servo.Kdi ....................................................................................................................... 505 Motor[x].Servo.Kei ....................................................................................................................... 506 Motor[x].Servo.Kfi ....................................................................................................................... 507 Motor[x].Servo.Kfff ...................................................................................................................... 507 Motor[x].Servo.Ki ......................................................................................................................... 508 Motor[x].Servo.Kp ........................................................................................................................ 509 Motor[x].Servo.Kvfb ..................................................................................................................... 510 Motor[x].Servo.Kvff ..................................................................................................................... 511


Table of Contents xviii

Motor[x].Servo.Kvifb ................................................................................................................... 512 Motor[x].Servo.Kviff .................................................................................................................... 513 Motor[x].Servo.Kxig ..................................................................................................................... 513 Motor[x].Servo.Kxpg .................................................................................................................... 514 Motor[x].Servo.Kxvg .................................................................................................................... 514 Motor[x].Servo.MaxDR ................................................................................................................ 515 Motor[x].Servo.MaxGainFactor.................................................................................................... 516 Motor[x].Servo.MaxInt ................................................................................................................. 516 Motor[x].Servo.MaxPosErr ........................................................................................................... 517 Motor[x].Servo.MaxW .................................................................................................................. 518 Motor[x].Servo.MinDR ................................................................................................................. 519 Motor[x].Servo.MinGainFactor .................................................................................................... 519 Motor[x].Servo.MinW .................................................................................................................. 520 Motor[x].Servo.NominalGain ....................................................................................................... 521 Motor[x].Servo.OutDbOff ............................................................................................................ 522 Motor[x].Servo.OutDbOn ............................................................................................................. 522 Motor[x].Servo.OutDbSeed .......................................................................................................... 523 Motor[x].Servo.pAccOut .............................................................................................................. 524 Motor[x].Servo.pVelOut ............................................................................................................... 526 Motor[x].Servo.SwFffInt .............................................................................................................. 527 Motor[x].Servo.SwPoly7 .............................................................................................................. 528 Motor[x].Servo.SwZvInt ............................................................................................................... 528

MuxIo. Saved Data Structure Elements .................................................................................................... 530

MuxIo.ClockPeriod ....................................................................................................................... 530 MuxIo.Enable................................................................................................................................ 530 MuxIo.InBit .................................................................................................................................. 531 MuxIo.OutBit ................................................................................................................................ 531 MuxIo.pIn ..................................................................................................................................... 532 MuxIo.pOut ................................................................................................................................... 533 MuxIo.UpdatePeriod ..................................................................................................................... 533 MuxIo.PortA[n].AutoParityCheck ................................................................................................ 534 MuxIo.PortB[n].AutoParityCheck ................................................................................................ 535 MuxIo.PortA[n].Dir ...................................................................................................................... 535 MuxIo.PortB[n].Dir ...................................................................................................................... 536 MuxIo.PortA[n].Enable ................................................................................................................ 536 MuxIo.PortB[n].Enable .........................................