Lenze PM94P01C - Manual (Page 43)

PM94P01C 41
Programming
When retrieving data with MEMGET statements memory locations will be sequentially copied to variables starting from
the one with smallest index in the list to the last with biggest index. Consider the list for the MEMGET statement:
[V2,V3,V5-V7]
RAM file memory
Data1 Data2 Data3 Data4 Data5 Data6 ... ... index increase
Here is how the data will be assigned to variables:
V2 <- Data1
V3 <- Data2
V5 <- Data3
V6 <- Data4
V7 <- Data5
2.8 System Variables and Flags Summary
2.8.1 System Variables
Section 3.2 provides a complete list of the system variables. Every aspect of the PositionServo can be controlled by
the manipulation of the values stored in the System Variables. All System Variables start with a “VAR_” followed by the
variable name. Alternatively, System Variables can be addressed as an @NUMBER where the number is the variable
Index. The most frequently used variables also have alternate names listed in Table 12.
Table 12: System Variables
Index Variable Access Variable Description Units
181 ACCEL R/W Acceleration for motion commands User Units/Sec 2
71 AIN1 R Analog input. Scaled in volts. Range from -10 to +10 volts V(olt)
72 AIN2 R Analog input 2. Scaled in Volts. Range from -10 to +10 volts V(olt)
88 AOUT R/W Analog output. Value in Volts. Valid range from -10 to +10 (V) (2) V(olt)
215 APOS R/W Actual motor position User Units
190 APOS_PLS R/W Actual Motor Position Encoder Counts
182 DECEL R/W Deceleration for motion commands User Units/Sec 2
83 DEXSTATUS R Drive Extended Status Word -
54 DSTATUS R Status flags register -
DFAULTS R Fault code register -
245 HOME W Start Homing (pre-defined homing) -
INDEX R Lower 8 bits are used. See ASSIGN statement for details. -
184 INPOSLIM R/W Maximum deviation of position for INPOSITION Flag to remain set User Units
65 INPUTS R Digital Inputs states. The first 12 bits correspond to the 12 drive inputs -
139 IREF W Internal Reference: Velocity / Torque RPS/A
187 MECOUNTER R Master Encoder Counts (Master Encoder Input) Encoder Counts
180 MAXV R/W Maximum velocity for motion commands User Units/Sec
140-
171
NV0 - NV31 R/W User Network Variables -
66 OUTPUTS R/W Digital outputs. Bits #0 to #4 represent outputs 1 through 5 -
216 PERROR R Position Error Feedback Pls
191 PERROR_PLS R Position Error User Units
48 PGAIN_D R/W Position loop D-gain -
47 PGAIN_I R/W Position loop I-gain -
49 PGAIN_ILIM R/W Position loop I gain limit -
46 PGAIN_P R/W Position loop P-gain -