Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 560
M121->X:$078000,21,1 ; -LIM1 (positive end) input status
M122->X:$078000,22,1 ; +LIM1 (negative end) input status
M123->X:$078000,23,1 ; FAULT1 input status
Motor #1 Status Bits
M130->Y:$0000C0,11,1 ; #1 Stopped-on-position-limit bit
M131->X:$0000B0,21,1 ; #1 Positive-end-limit-set bit
M132->X:$0000B0,22,1 ; #1 Negative-end-limit-set bit
M133->X:$0000B0,13,1 ; #1 Desired-velocity-zero bit
M135->X:$0000B0,15,1 ; #1 Dwell-in-progress bit
M137->X:$0000B0,17,1 ; #1 Running-program bit
M138->X:$0000B0,18,1 ; #1 Open-loop-mode bit
M139->X:$0000B0,19,1 ; #1 Amplifier-enabled status bit
M140->Y:$0000C0,0,1 ; #1 Background in-position bit
M141->Y:$0000C0,1,1 ; #1 Warning-following error bit
M142->Y:$0000C0,2,1 ; #1 Fatal-following-error bit
M143->Y:$0000C0,3,1 ; #1 Amplifier-fault-error bit
M144->Y:$0000C0,13,1 ; #1 Foreground in-position bit
M145->Y:$0000C0,10,1 ; #1 Home-complete bit
M146->Y:$0000C0,6,1 ; #1 Integrated following error fault bit
M147->Y:$0000C0,5,1 ; #1 I2T fault bit
M148->Y:$0000C0,8,1 ; #1 Phasing error fault bit
M149->Y:$0000C0,9,1 ; #1 Phasing search-in-progress bit
Motor #1 Move Registers
M161->D:$000088 ; #1 Commanded position (1/[Ixx08*32] cts)
M162->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts)
M163->D:$0000C7 ; #1 Target (end) position (1/[Ixx08*32] cts)
M164->D:$0000CC ; #1 Position bias (1/[Ixx08*32] cts)
M166->X:$00009D,0,24,S ; #1 Actual velocity (1/[Ixx09*32] cts/cyc)
M167->D:$00008D ; #1 Present master pos (1/[Ixx07*32] cts)
M168->X:$0000BF,8,16,S ; #1 Filter Output (16-bit DAC bits)
M169->D:$000090 ; #1 Compensation correction (1/[Ixx08*32] cts)
M170->D:$0000B4 ; #1 Present phase position (including fraction)
M171->X:$0000B4,24,S ; #1 Present phase position (counts *Ixx70)
M172->L:$0000D7 ; #1 Variable jog position/distance (cts)
M173->Y:$0000CE,0,24,S ; #1 Encoder home capture position (cts)
M174->D:$0000EF ; #1 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M175->X:$0000B9,8,16,S ; #1 Actual quadrature current
M176->Y:$0000B9,8,16,S ; #1 Actual direct current
M177->X:$0000BC,8,16,S ; #1 Quadrature current-loop integrator output
M178->Y:$0000BC,8,16,S ; #1 Direct current-loop integrator output
M179->X:$0000AE,8,16,S ; #1 PID internal filter result (16-bit DAC bits)
Motor #1 Axis Definition Registers
M191->L:$0000CF ; #1 X/U/A/B/C-Axis scale factor (cts/unit)
M192->L:$0000D0 ; #1 Y/V-Axis scale factor (cts/unit)
M193->L:$0000D1 ; #1 Z/W-Axis scale factor (cts/unit)
M194->L:$0000D2 ; #1 Axis offset (cts)
Servo IC 0 Registers for PMAC Channel 2 (usually for Motor #2)
M201->X:$078005,0,24,S ; ENC2 24-bit counter position
M202->Y:$078002,8,16,S ; DAC2 16-bit analog output
M203->X:$078007,0,24,S ; ENC2 capture/compare position register
M205->Y:$078007,8,16,S ; ADC2 16-bit analog input