Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 728
Motor #31 Move Registers
M3161->D:$000F88 ; #31 Commanded position (1/[Ixx08*32] cts)
M3162->D:$000F8B ; #31 Actual position (1/[Ixx08*32] cts)
M3163->D:$000FC7 ; #31 Target (end) position (1/[Ixx08*32] cts)
M3164->D:$000FCC ; #31 Position bias (1/[Ixx08*32] cts)
M3166->X:$000F9D,0,24,S ; #31 Actual velocity (1/[Ixx09*32] cts/cyc)
M3167->D:$000F8D ; #31 Present master pos (1/[Ixx07*32] cts)
M3168->X:$000FBF,8,16,S ; #31 Filter Output (16-bit DAC bits)
M3169->D:$000F90 ; #31 Compensation correction (1/[Ixx08*32] cts)
M3170->D:$000FB4 ; #31 Present phase position (including fraction)
M3171->X:$000FB4,24,S ; #31 Present phase position (counts *Ixx70)
M3172->L:$000FD7 ; #31 Variable jog position/distance (cts)
M3173->Y:$000FCE,0,24,S ; #31 Encoder home capture position (cts)
M3174->D:$000FEF ; #31 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3175->X:$000FB9,8,16,S ; #31 Actual quadrature current
M3176->Y:$000FB9,8,16,S ; #31 Actual direct current
M3177->X:$000FBC,8,16,S ; #31 Quadrature current-loop integrator output
M3178->Y:$000FBC,8,16,S ; #31 Direct current-loop integrator output
M3179->X:$000FAE,8,16,S ; #31 PID internal filter result (16-bit DAC bits)
M3188->Y:$07B311,0,12,U ; IC 9 Ch 3 Compare A fractional count
M3189->Y:$07B310,0,12,U ; IC 9 Ch 3 Compare B fractional count
Motor #31 Axis Definition Registers
M3191->L:$000FCF ; #31 X/U/A/B/C-Axis scale factor (cts/unit)
M3192->L:$000FD0 ; #31 Y/V-Axis scale factor (cts/unit)
M3193->L:$000FD1 ; #31 Z/W-Axis scale factor (cts/unit)
M3194->L:$000FD2 ; #31 Axis offset (cts)
Servo IC 9 Channel 4 Registers (usually for Motor #32)
M3201->X:$07B319,0,24,S ; ENC8 24-bit counter position
M3202->Y:$07B31A,8,16,S ; OUT8A command value; DAC or PWM
M3203->X:$07B31B,0,24,S ; ENC8 captured position
M3204->Y:$07B31B,8,16,S ; OUT8B command value; DAC or PWM
M3205->Y:$07B31D,8,16,S ; ADC8A input value
M3206->Y:$07B31E,8,16,S ; ADC8B input value
M3207->Y:$07B31C,8,16,S ; OUT8C command value; PFM or PWM
M3208->Y:$07B31F,0,24,S ; ENC8 compare A position
M3209->X:$07B31F,0,24,S ; ENC8 compare B position
M3210->X:$07B31E,0,24,S ; ENC8 compare autoincrement value
M3211->X:$07B31D,11 ; ENC8 compare initial state write enable
M3212->X:$07B31D,12 ; ENC8 compare initial state
M3214->X:$07B31D,14 ; AENA8 output status
M3215->X:$07B318,19 ; USER8 flag input status
M3216->X:$07B318,9 ; ENC8 compare output value
M3217->X:$07B318,11 ; ENC8 capture flag
M3218->X:$07B318,8 ; ENC8 count error flag
M3219->X:$07B318,14 ; CHC8 input status
M3220->X:$07B318,16 ; HMFL8 flag input status
M3221->X:$07B318,17 ; PLIM8 flag input status
M3222->X:$07B318,18 ; MLIM8 flag input status
M3223->X:$07B318,15 ; FAULT8 flag input status
M3224->X:$07B318,20 ; Channel 8 W flag input status
M3225->X:$07B318,21 ; Channel 8 V flag input status