Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 654
M2654->Y:$003471,14,1 ; MACRO IC 3 Node 1 amplifier enable flag
M2655->X:$003471,15,1 ; MACRO IC 3 Node 1 node/amplifier fault flag
M2656->X:$003471,16,1 ; MACRO IC 3 Node 1 home flag
M2657->X:$003471,17,1 ; MACRO IC 3 Node 1 positive limit flag
M2658->X:$003471,18,1 ; MACRO IC 3 Node 1 negative limit flag
M2659->X:$003471,19,1 ; MACRO IC 3 Node 1 user flag
Motor #26 Move Registers
M2661->D:$000D08 ; #26 Commanded position (1/[Ixx08*32] cts)
M2662->D:$000D0B ; #26 Actual position (1/[Ixx08*32] cts)
M2663->D:$000D47 ; #26 Target (end) position (1/[Ixx08*32] cts)
M2664->D:$000D4C ; #26 Position bias (1/[Ixx08*32] cts)
M2666->X:$000D1D,0,24,S ; #26 Actual velocity (1/[Ixx09*32] cts/cyc)
M2667->D:$000D0D ; #26 Present master pos (1/[Ixx07*32] cts)
M2668->X:$000D3F,8,16,S ; #26 Filter Output (16-bit DAC bits)
M2669->D:$000D10 ; #26 Compensation correction (1/[Ixx08*32] cts)
M2670->D:$000D34 ; #26 Present phase position (including fraction)
M2671->X:$000D34,24,S ; #26 Present phase position (counts *Ixx70)
M2672->L:$000D57 ; #26 Variable jog position/distance (cts)
M2673->Y:$000D4E,0,24,S ; #26 Encoder home capture position (cts)
M2674->D:$000D6F ; #26 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2675->X:$000D39,8,16,S ; #26 Actual quadrature current
M2676->Y:$000D39,8,16,S ; #26 Actual direct current
M2677->X:$000D3C,8,16,S ; #26 Quadrature current-loop integrator output
M2678->Y:$000D3C,8,16,S ; #26 Direct current-loop integrator output
M2679->X:$000D2E,8,16,S ; #26 PID internal filter result (16-bit DAC bits)
M2688->Y:$07A209,0,12,U ; IC 6 Ch 2 Compare A fractional count
M2689->Y:$07A208,0,12,U ; IC 6 Ch 2 Compare A fractional count
Motor #26 Axis Definition Registers
M2691->L:$000D4F ; #26 X/U/A/B/C-Axis scale factor (cts/unit)
M2692->L:$000D50 ; #26 Y/V-Axis scale factor (cts/unit)
M2693->L:$000D51 ; #26 Z/W-Axis scale factor (cts/unit)
M2694->L:$000D52 ; #26 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 3 (usually for Motor #27)
M2701->X:$07A211,0,24,S ; ENC3 24-bit counter position
M2702->Y:$07A212,8,16,S ; OUT3A command value; DAC or PWM
M2703->X:$07A213,0,24,S ; ENC3 captured position
M2704->Y:$07A213,8,16,S ; OUT3B command value; DAC or PWM
M2705->Y:$07A215,8,16,S ; ADC3A input value
M2706->Y:$07A216,8,16,S ; ADC3B input value
M2707->Y:$07A214,8,16,S ; OUT3C command value; PFM or PWM
M2708->Y:$07A217,0,24,S ; ENC3 compare A position
M2709->X:$07A217,0,24,S ; ENC3 compare B position
M2710->X:$07A216,0,24,S ; ENC3 compare autoincrement value
M2711->X:$07A215,11 ; ENC3 compare initial state write enable
M2712->X:$07A215,12 ; ENC3 compare initial state
M2714->X:$07A215,14 ; AENA3 output status
M2715->X:$07A210,19 ; USER3 flag input status
M2716->X:$07A210,9 ; ENC3 compare output value
M2717->X:$07A210,11 ; ENC3 capture flag
M2718->X:$07A210,8 ; ENC3 count error flag
M2719->X:$07A210,14 ; CHC3 input status