Global I-variable setup

Some of the global I-variables are

I5

Turns PLC programs on/off

I10 Servo interupt Time

is a parameter which tells PMAC2 how much time there is between servo interupts (default $3,713,707$ in units $1/8,388,608 msec$ which is equvivalent to 442 $\mu$sec). The proper setting can be determined from

$$\mbox{I10}=\frac{640}{9}(2*\mbox{I900}+3)(\mbox{I901}+1)(\mbox{I902}+1)$$ (4.1)

I900 MaxPhase and PWM 1-4 Frequency control

controls the ``maximum phase'' clock frequency, and the PWM frequency for machine channels 1-4. The default is 6527 which is equvivalent to MaxPhaseFreq=9.0346 kHz.

1901 Phase Clock Frequency Control

together with I900 determines the frequency of the PHASE clock on PMAC2. We are not using PMAC commutation for feedback so these are only important for I10 and I902 setup. The default is 0, which is

$$\mbox{PhaseClockFreq} = \frac{\mbox{MaxPhaseFreq}} {(\mbox{I901}+1)}=9.0346 \mbox{ kHz}$$

1902 Servo Clock Frequency Control

determines the frequency of the SERVO clock on the PMAC2. Default is 3 (range 1-15), which is

$$\mbox{ServoClockFreq}=\frac{\mbox{PhaseClockFreq}}{(\mbox{I902}+1)} =2.2587 \mbox{ kHz}.$$