Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 270)

248 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
PGMTYPE Program Type Compiler Options
Purpose Set the type of program to be compiled.
Syntax PGMTYPE = MAINPGM/AUTOPGM/FKEYPGM/ERRPGM/CAMPROF
Remarks The PGMTYPE statement overrides the default compiler option for Program Type set
in the Edit menu, Compiler Options dialog box.
MAINPGM: Normal motion program
AUTOPGM: Auto program, System program zero
FKEYPGM: Fkey program, System programs 1-24
ERRPGM: Error Routine program, System program 27
CAMPROF: Cam profile, requires IQ Cam compiler
This statement requires IQ Master version 3.0 or later.
See Also DEBUG, COMPILETOMEMORY, LISTFILE, EXPANDMACROS
Example PGMTYPE = MAINPGM
PGMTYPE = FKEYPGM
PICMD Current Command, Peak Current
Purpose Peak current command in amperes.
Syntax variable = PICMD
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks ICMD is calculated every velocity loop update (1mS). If the current value is greater
than the previous peak, the value is saved as the new peak. The magnitude of the peak
is calculated based on an absolute value of current command (ICMD). The value is
saved and reported as a signed number, however. The variable is scaled by the drive
module current (Dm).
CLRPEAKS resets this value to zero.
See Also ICMD, CLRPEAKS, IAVE, IAVG
Example G6 = PICMD