Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 564
M446->Y:$000240,6,1 ; #4 Integrated following error fault bit
M447->Y:$000240,5,1 ; #4 I2T fault bit
M448->Y:$000240,8,1 ; #4 Phasing error fault bit
M449->Y:$000240,9,1 ; #4 Phasing search-in-progress bit
Motor #4 Move Registers
M461->D:$000208 ; #4 Commanded position (1/[Ixx08*32] cts)
M462->D:$00020B ; #4 Actual position (1/[Ixx08*32] cts)
M463->D:$000247 ; #4 Target (end) position (1/[Ixx08*32] cts)
M464->D:$00024C ; #4 Position bias (1/[Ixx08*32] cts)
M466->X:$00021D,0,24,S ; #4 Actual velocity (1/[Ixx09*32] cts/cyc)
M467->D:$00020D ; #4 Present master pos (1/[Ixx07*32] cts)
M468->X:$00023F,8,16,S ; #4 Filter Output (16-bit DAC bits)
M469->D:$000210 ; #4 Compensation correction (1/[Ixx08*32] cts)
M470->D:$000234 ; #4 Present phase position (including fraction)
M471->X:$000234,24,S ; #4 Present phase position (counts *Ixx70)
M472->L:$000257 ; #4 Variable jog position/distance (cts)
M473->Y:$00024E,0,24,S ; #4 Encoder home capture position (cts)
M474->D:$00026F ; #4 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M475->X:$000239,8,16,S ; #4 Actual quadrature current
M476->Y:$000239,8,16,S ; #4 Actual direct current
M477->X:$00023C,8,16,S ; #4 Quadrature current-loop integrator output
M478->Y:$00023C,8,16,S ; #4 Direct current-loop integrator output
M479->X:$00022E,8,16,S ; #4 PID internal filter result (16-bit DAC bits)
Motor #4 Axis Definition Registers
M491->L:$00024F ; #4 X/U/A/B/C-Axis scale factor (cts/unit)
M492->L:$000250 ; #4 Y/V-Axis scale factor (cts/unit)
M493->L:$000251 ; #4 Z/W-Axis scale factor (cts/unit)
M494->L:$000252 ; #4 Axis offset (cts)
Servo IC 1 Registers for PMAC Channel 5 (usually for Motor #5)
M501->X:$078101,0,24,S ; ENC5 24-bit counter position
M502->Y:$078103,8,16,S ; DAC5 16-bit analog output
M503->X:$078103,0,24,S ; ENC5 capture/compare position register
M505->Y:$078106,8,16,S ; ADC5 16-bit analog input
M506->Y:$078100,0,24,U ; ENC5 time between counts (SCLK cycles)
M510->X:$078100,10,1 ; ENC5 count-write enable control
M511->X:$078100,11,1 ; EQU5 compare flag latch control
M512->X:$078100,12,1 ; EQU5 compare output enable
M513->X:$078100,13,1 ; EQU5 compare invert enable
M514->X:$078100,14,1 ; AENA5/DIR5 Output
M516->X:$078100,16,1 ; EQU5 compare flag
M517->X:$078100,17,1 ; ENC5 position-captured flag
M518->X:$078100,18,1 ; ENC5 Count-error flag
M519->X:$078100,19,1 ; ENC5 3rd channel input status
M520->X:$078100,20,1 ; HMFL5 input status
M521->X:$078100,21,1 ; -LIM5 (positive end) input status
M522->X:$078100,22,1 ; +LIM5 (negative end) input status
M523->X:$078100,23,1 ; FAULT5 input status