Lenze PM94P01C - Manual (Page 44)

PM94P01C 42
Programming
Index Variable Access Variable Description Units
188 PHCUR R Motor phase current A(mpere)
183 QDECEL R/W Quick Deceleration for STOP MOTION QUICK statement User Units/Sec 2
213 RPOS R Registration position. Valid when system flag F_REGISTRATION set User Units
212 RPOS_PLS R Registration position Feedback Pls
218 TA R Commanded acceleration User units/Sec 2
214 TPOS R/W Theoretical/commanded position User Units
219 TPOS_ADV W Theoretical/commanded position advance Feedback Pls
189 TPOS_PLS R/W Theoretical/commanded position Feedback Pls
217 TV R Commanded velocity in User Units/Sec
186 UNITS R/W User Units scale. (1) UserUnits/Rev
185 VEL R/W Set Velocity when in velocity mode User Units/Sec
44 VGAIN_P R/W Velocity loop P-gain -
45 VGAIN_I R/W Velocity loop I-gain -
100-
131
V0 - V31 R/W User Variables
(1) When a “0”, (Zero), value is assigned to the variable “UNITS”, then “USER UNITS” is set to QUAD ENCODER COUNTS. This is the default setting
at the start of the program before UNITS=<value> is executed.
(2) Any value outside +/- 10 range assigned to AOUT will be automatically trimmed to that range
Example:
AOUT=100 , AOUT will be assigned value of 10.
V0=236
VOUT=V0, VOUT will be assigned 10 and V0 will be unchanged.
2.8.2 System Flags
Flags don’t have an Index number assigned to them. They are the product of a BIT mask applied to a particular system
variable by the drive and are available to the user only from the User’s program. Table 13 lists the System Flags with
access rights and description.
Table 13: System Flags
Name Access Description
IN_A1-4, IN_B1-4, IN_C1-4 R Digital inputs . TRUE if input active, FALSE otherwise
OUT1, OUT2, OUT3, OUT4, OUT5 W Digital outputs OUTPUT1- OUTPUT5
F_ICONTROL OFF R Interface Control Status (ON/OFF) #27 in DSTATUS register
F_IN_POSITION R
TRUE when Actual Position (APOS) is within limits set by
INPOSLIM variable and motion completed
F_ENABLED R Set when drive is enabled
F_EVENTS OFF R Events Disabled Status (ON/OFF) #30 in DSTATUS register
F_MCOMPLETE R
Set when motion is completed and there is no motion commands
waiting in the Motion Queue
F_MQUEUE_FULL R Motion Queue full
F_MQUEUE_EMPTY R Motion Queue empty
F_FAULT R Set if any fault detected
F_ARITHMETIC_FLT R Arithmetic fault
F_REGISTRATION R
Set when registration mark was detected. Content RPOS variable is
valid when this flag is active. Flag resets by any registration moves
MOVEPR,MOVEDR or by command REGISTRATION ON
F_MSUSPENDED R Set if motion suspended by statement MOTION SUSPEND