Lenze PMSS1000 Simple Servo - Manual (Page 31)

Indexer-Programmer-Manual.pdf REV 1.3
2.10 System Variables and Flags Summary
Below is the table of System Variables and Flags, sorted by type. Variables can be Read-Only (R) or
Read/Write (R/W) types. System Flags are always Read Only (R).
Variable Access Variable Description Units
UNITS R/W User Units scale.** NOTE 1 UserUnits/Rev
APOS R/W Actual motor position User Units
TPOS R Theoretical/commanded position User Units
TV R Commanded velocity in User Units/Sec
RPOS R Registration position. Valid when system flag
F_REGISTARTION set
User Units
TA R Commanded acceleration
INPOSLIM R/W Maximum allowable deviation of position for
INPOSITION Flag to remain to be set
User Units
MAXV R/W Maximum velocity for motion commands User Units/Sec
ACCEL R/W Acceleration for motion commands User Units/Sec 2
DECEL R/W Deceleration for motion commands User Units/Sec 2
QDECEL R/W Quick Deceleration for STOP MOTION QUICK
statement
User Units/Sec 2
VEL R/W Set Velocity when in velocity mode User Units/Sec
GRATIO R/W Gear Ratio between master encoder
and motor
-
MEPPR R/W Master Encoder resolution. Pulses
PGAIN_P R/W Position loop P-gain -
PGAIN_I R/W Position loop I-gain -
PGAIN_D R/W Position loop D-gain -
PGAIN_VFF R/W Position loop VFF (velocity feed forward) gain -
PGAIN_ILIM R/W Position loop I gain limit -
VGAIN_P R/W Velocity loop P-gain -
VGAIN_I R/W Velocity loop I-gain -
INPUTS R Digital Inputs states. First 12 bits corresponds
to 12 SSi inputs
-
OUTPUTS R/W Digital outputs. First 5 bits represents outputs
From #0 to #4
-
INDEX R/W Lower 8 bits are used. See ASSIGN statement
for details.
-
PHCUR R Motor phase current A(mpere)
DSTATUS R Status flags register -
DFAULTS R Fault code register -
AIN R Analog input. Scaled in volts.
Range form –10 to +10
V(olt)
AOUT R/W Analog output value in Volts.
Valid range from –10 to +10 (V) NOTE 2
V(olt)
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