PowerPMAC软件参考手册：参数与故障指南

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Power PMAC Software Reference Manual

Table of Contents xvi

Motor[x].pAbsPhasePos ................................................................................................................ 405

Motor[x].pAbsPos ......................................................................................................................... 407

Motor[x].pAdc .............................................................................................................................. 408

Motor[x].pAmpEnable .................................................................................................................. 409

Motor[x].pAmpFault ..................................................................................................................... 410

Motor[x].pAuxFault ...................................................................................................................... 411

Motor[x].pBrakeOut ...................................................................................................................... 412

Motor[x].pBufPos ......................................................................................................................... 413

Motor[x].pBufPos2 ....................................................................................................................... 414

Motor[x].pCaptFlag ...................................................................................................................... 414

Motor[x].pCaptPos ........................................................................................................................ 415

Motor[x].Pdi .................................................................................................................................. 416

Motor[x].pDac ............................................................................................................................... 417

Motor[x].pEnc ............................................................................................................................... 418

Motor[x].pEnc2 ............................................................................................................................. 418

Motor[x].pEncCtrl ......................................................................................................................... 419

Motor[x].pEncLoss ....................................................................................................................... 420

Motor[x].pEncStatus ..................................................................................................................... 421

Motor[x].PhaseCtrl ........................................................................................................................ 422

Motor[x].PhaseEncLeftShift ......................................................................................................... 423

Motor[x].PhaseEncRightShift ....................................................................................................... 424

Motor[x].PhaseFindingDac ........................................................................................................... 425

Motor[x].PhaseFindingTime ......................................................................................................... 425

Motor[x].PhaseLoadEncLeftShift ................................................................................................. 426

Motor[x].PhaseLoadEncRightShift ............................................................................................... 427

Motor[x].PhaseMode .................................................................................................................... 428

Motor[x].PhaseOffset .................................................................................................................... 429

Motor[x].PhasePosSf .................................................................................................................... 430

Motor[x].PhaseSplineCtrl ............................................................................................................. 432

Motor[x].pLimits ........................................................................................................................... 433

Motor[x].pMasterEnc .................................................................................................................... 434

Motor[x].pMotorNode .................................................................................................................. 434

Motor[x].Pni .................................................................................................................................. 435

Motor[x].PosReportMode ............................................................................................................. 436

Motor[x].PosSf .............................................................................................................................. 437

Motor[x].Pos2Sf ............................................................................................................................ 437

Motor[x].PowerOnMode ............................................................................................................... 438

Motor[x].pPhaseEnc ...................................................................................................................... 439

Motor[x].pPhaseLoadEnc ............................................................................................................. 440

Motor[x].PreFilterEna ................................................................................................................... 441

Motor[x].ProgJogPos .................................................................................................................... 442

Motor[x].pSineTable ..................................................................................................................... 442

Motor[x].pVoltSineTable .............................................................................................................. 443

Motor[x].PwmDbComp ................................................................................................................ 443

Motor[x].PwmDbI ......................................................................................................................... 444

Motor[x].PwmSf ........................................................................................................................... 444

Motor[x].RapidSpeedSel ............................................................................................................... 445

Motor[x].ServoCaptTimeOffset .................................................................................................... 446

Motor[x].ServoCtrl ........................................................................................................................ 447

Motor[x].SlewMasterPosSf ........................................................................................................... 448

Motor[x].SlipGain ......................................................................................................................... 448

Power PMAC Software Reference Manual

Table of Contents xvii

Motor[x].SoftLimitOffset .............................................................................................................. 449

Motor[x].Stime .............................................................................................................................. 450

Motor[x].TraceSize ....................................................................................................................... 451

Motor[x].WarnFeLimit ................................................................................................................. 451

Motor Servo Loop Term Elements ....................................................................................................... 453

Motor[x].Servo.BreakPosErr ........................................................................................................ 453

Motor[x].Servo.EstMinDac ........................................................................................................... 453

Motor[x].Servo.EstTime ............................................................................................................... 454

Motor[x].Servo.Kafb ..................................................................................................................... 454

Motor[x].Servo.Kaff ..................................................................................................................... 455

Motor[x].Servo.Kai ....................................................................................................................... 456

Motor[x].Servo.Kbi ....................................................................................................................... 456

Motor[x].Servo.Kbreak ................................................................................................................. 457

Motor[x].Servo.Kci ....................................................................................................................... 458

Motor[x].Servo.Kdi ....................................................................................................................... 458

Motor[x].Servo.Kei ....................................................................................................................... 459

Motor[x].Servo.Kfi ....................................................................................................................... 459

Motor[x].Servo.Kfff ...................................................................................................................... 460

Motor[x].Servo.Ki ......................................................................................................................... 461

Motor[x].Servo.Kp ........................................................................................................................ 462

Motor[x].Servo.Kvfb ..................................................................................................................... 462

Motor[x].Servo.Kvff ..................................................................................................................... 463

Motor[x].Servo.Kvifb ................................................................................................................... 464

Motor[x].Servo.Kviff .................................................................................................................... 465

Motor[x].Servo.Kxig ..................................................................................................................... 466

Motor[x].Servo.Kxpg .................................................................................................................... 467

Motor[x].Servo.Kxvg .................................................................................................................... 467

Motor[x].Servo.MaxDR ................................................................................................................ 468

Motor[x].Servo.MaxGainFactor.................................................................................................... 469

Motor[x].Servo.MaxInt ................................................................................................................. 469

Motor[x].Servo.MaxPosErr ........................................................................................................... 470

Motor[x].Servo.MaxW .................................................................................................................. 470

Motor[x].Servo.MinDR ................................................................................................................. 471

Motor[x].Servo.MinGainFactor .................................................................................................... 472

Motor[x].Servo.MinW .................................................................................................................. 473

Motor[x].Servo.NominalGain ....................................................................................................... 474

Motor[x].Servo.OutDbOff ............................................................................................................ 474

Motor[x].Servo.OutDbOn ............................................................................................................. 475

Motor[x].Servo.OutDbSeed .......................................................................................................... 475

Motor[x].Servo.SwFffInt .............................................................................................................. 476

Motor[x].Servo.SwPoly7 .............................................................................................................. 476

Motor[x].Servo.SwZvInt ............................................................................................................... 477

MuxIo. Saved Data Structure Elements .................................................................................................... 478

MuxIo.ClockPeriod ....................................................................................................................... 478

MuxIo.Enable................................................................................................................................ 478

MuxIo.InBit .................................................................................................................................. 479

MuxIo.OutBit ................................................................................................................................ 479

MuxIo.pIn ..................................................................................................................................... 480

MuxIo.pOut ................................................................................................................................... 481

Power PMAC Software Reference Manual

Table of Contents xviii

MuxIo.UpdatePeriod ..................................................................................................................... 481

MuxIo.PortA[n].AutoParityCheck / MuxIo.PortB[n].AutoParityCheck ...................................... 482

MuxIo.PortA[n].Dir / MuxIo.PortB[n].Dir ................................................................................... 483

MuxIo.PortA[n].Enable / MuxIo.PortB[n].Enable ....................................................................... 483

PowerBrick[i]. Saved Data Structure Elements ........................................................................................ 484

Sys. Saved Data Structure Elements ......................................................................................................... 485

Sys.AbortAllBit ............................................................................................................................ 485

Sys.AbortAllLimit ........................................................................................................................ 485

Sys.BgSleepTime .......................................................................................................................... 486

Sys.BgWDTReset ......................................................................................................................... 486

Sys.BusCtrl[n] ............................................................................................................................... 487

Sys.CamEnable ............................................................................................................................. 488

Sys.CompEnable ........................................................................................................................... 489

Sys.CompMotor ............................................................................................................................ 489

Sys.CpuTimerIntr.......................................................................................................................... 490

Sys.FirstEnc .................................................................................................................................. 491

Sys.I[i] ........................................................................................................................................... 491

Sys.MaxCoords ............................................................................................................................. 491

Sys.MaxEcats ................................................................................................................................ 492

Sys.MaxMotors ............................................................................................................................. 492

Sys.MaxRtPlc................................................................................................................................ 493

Sys.MaxTimedUnderflow ............................................................................................................. 493

Sys.MotorsPerRtInt ....................................................................................................................... 494

Sys.NoShortCmds ......................................................................................................................... 496

Sys.pAbortAll ............................................................................................................................... 497

Sys.PhaseCycleExt ........................................................................................................................ 497

Sys.PhaseOverServoPeriod ........................................................................................................... 498

Sys.PreCalc ................................................................................................................................... 499

Sys.RtIntPeriod ............................................................................................................................. 500

Sys.SendFileMode ........................................................................................................................ 500

Sys.ServoPeriod ............................................................................................................................ 501

Sys.SimConfigOk ......................................................................................................................... 502

Sys.WDTReset .............................................................................................................................. 502

POWER PMAC NON-SAVED SETUP DATA STRUCTURE ELEMENTS ................................... 504

Acc5E[i]. Non-Saved Setup Data Structure Elements .............................................................................. 504

Acc5E3[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504

Acc5EP3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 504

Acc11C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504

Acc11E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504

Acc14E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 504

Acc24C2[i]. Non-Saved Setup Data Structure Elements .......................................................................... 504

Power PMAC Software Reference Manual

Table of Contents xix

Acc24C2A[i]. Non-Saved Setup Data Structure Elements ....................................................................... 505

Acc24E2[i]. Non-Saved Setup Data Structure Elements .......................................................................... 505

Acc24E2A[i]. Non-Saved Setup Data Structure Elements ....................................................................... 505

Acc24E2S[i]. Non-Saved Setup Data Structure Elements ........................................................................ 505

Acc24E3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 505

Acc36E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 506

Acc36E[i].ConvertCode ................................................................................................................ 506

Acc51C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507

Acc51E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507

Acc58E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 507

Acc59E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 508

Acc59E[i].ConvertCode ................................................................................................................ 508

Acc59E[i].DAC[j] ......................................................................................................................... 508

Acc59E[i].DACHighLow[j] ......................................................................................................... 509

Acc59E3[i]. Non-Saved Setup Data Structure Elements .......................................................................... 510

Acc65E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510

Acc66E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510

Acc67E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510

Acc68E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 510

Acc72EX[i]. Non-Saved Setup Data Structure Elements ......................................................................... 511

Acc72EX[i].Idata16[j] .................................................................................................................. 511

Acc72EX[i].Idata32[j] .................................................................................................................. 511

Acc72EX[i].Udata8[j] ................................................................................................................... 512

Acc72EX[i].Udata16[j] ................................................................................................................. 513

Acc72EX[i].Udata32[j] ................................................................................................................. 513

Acc84B[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515

Acc84C[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515

Acc84E[i]. Non-Saved Setup Data Structure Elements ............................................................................ 515

Acc84E[i].AuxSerialEncCtrl ............................................................................................................... 515

Acc84E[i].AuxChan[j].SerialEncCmd ................................................................................................ 515

Acc84S[i]. Non-Saved Setup Data Structure Elements ............................................................................ 516

Power PMAC Software Reference Manual

Table of Contents xx

BrickAC. Non-Saved Data Structure Elements ........................................................................................ 517

BrickAC. Multi-Channel Non-Saved Setup Elements .......................................................................... 517

BrickAC.Config ............................................................................................................................ 517

BrickAC.Monitor .......................................................................................................................... 518

BrickAC.Reset .............................................................................................................................. 520

BrickLV. Non-Saved Data Structure Elements ........................................................................................ 522

BrickLV. Multi-Channel Setup Elements ............................................................................................. 522

BrickLV.Config ............................................................................................................................ 522

BrickLV.Monitor .......................................................................................................................... 523

BrickLV.Reset .............................................................................................................................. 525

Clipper[i]. Non-Saved Setup Data Structure Elements ............................................................................. 526

CamTable[m]. Non-Saved Setup Data Structure Elements ...................................................................... 527

CamTable[m].Enable .................................................................................................................... 527

CamTable[m].PosOffset ................................................................................................................ 527

Cid[j]. Non-Saved Setup Data Structure Elements ................................................................................... 529

Cid[j].PartCtrl[k] ........................................................................................................................... 529

Cid[j].PartData[k] .......................................................................................................................... 530

Clipper[i]. Non-Saved Data Structure Elements ....................................................................................... 530

Coord[x]. Non-Saved Setup Data Structure Elements .............................................................................. 531

Coord[x].DesTimeBase ................................................................................................................. 531

Coord[x].InvTimeMode ................................................................................................................ 531

Coord[x].Q[i] ................................................................................................................................ 533

Coord[x].SegOverride ................................................................................................................... 534

Coord[x].TxyzScale ...................................................................................................................... 534

Coord[x].CC3Data[i]. 3D Cutter Compensation Elements ................................................................ 535

Coord[x].CC3Data[i].CutRadius ................................................................................................... 535

Coord[x].CC3Data[i].NdotT ......................................................................................................... 536

Coord[x].CC3Data[0].ToolOffset ................................................................................................. 537

Coord[x].CC3Data[0].ToolRadius ................................................................................................ 538

Coord[x].Ldata. Non-Saved Local Data Elements .............................................................................. 538

ECAT[i]. Non-Saved Setup Data Structure Elements .............................................................................. 539

ECAT[i].IOBuffer[m] ................................................................................................................... 539

EtherCAT Cyclic I/O Non-Saved Elements ......................................................................................... 539

ECAT[i].IO[k].Data ...................................................................................................................... 539

ECAT[i].IO[k].Offset .................................................................................................................... 539

EtherCAT Low-Priority I/O Module Non-Saved Elements .................................................................. 540

ECAT[i].LPIO[k].Data ................................................................................................................. 540

Gate1[i]. (PMAC2-Style Servo IC) Non-Saved Setup Data Structure Elements ..................................... 541

Gate1[i].Chan[j].AmpEna ............................................................................................................. 541

Gate1[i].Chan[j].CompA .............................................................................................................. 541

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