Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 570
M935->X:$0004B0,15,1 ; #9 Dwell-in-progress bit
M937->X:$0004B0,17,1 ; #9 Running-program bit
M938->X:$0004B0,18,1 ; #9 Open-loop-mode bit
M939->X:$0004B0,19,1 ; #9 Amplifier-enabled status bit
M940->Y:$0004C0,0,1 ; #9 Background in-position bit
M941->Y:$0004C0,1,1 ; #9 Warning-following error bit
M942->Y:$0004C0,2,1 ; #9 Fatal-following-error bit
M943->Y:$0004C0,3,1 ; #9 Amplifier-fault-error bit
M944->Y:$0004C0,13,1 ; #9 Foreground in-position bit
M945->Y:$0004C0,10,1 ; #9 Home-complete bit
M946->Y:$0004C0,6,1 ; #9 Integrated following error fault bit
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M948->Y:$0004C0,8,1 ; #9 Phasing error fault bit
M949->Y:$0004C0,9,1 ; #9 Phasing search-in-progress bit
Motor #9 Move Registers
M961->D:$000488 ; #9 Commanded position (1/[Ixx08*32] cts)
M962->D:$00048B ; #9 Actual position (1/[Ixx08*32] cts)
M963->D:$0004C7 ; #9 Target (end) position (1/[Ixx08*32] cts)
M964->D:$0004CC ; #9 Position bias (1/[Ixx08*32] cts)
M966->X:$00049D,0,24,S ; #9 Actual velocity (1/[Ixx09*32] cts/cyc)
M967->D:$00048D ; #9 Present master pos (1/[Ixx07*32] cts)
M968->X:$0004BF,8,16,S ; #9 Filter Output (16-bit DAC bits)
M969->D:$000490 ; #9 Compensation correction (1/[Ixx08*32] cts)
M970->D:$0004B4 ; #9 Present phase position (including fraction)
M971->X:$0004B4,24,S ; #9 Present phase position (counts *Ixx70)
M972->L:$0004D7 ; #9 Variable jog position/distance (cts)
M973->Y:$0004CE,0,24,S ; #9 Encoder home capture position (cts)
M974->D:$0004EF ; #9 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M975->X:$0004B9,8,16,S ; #9 Actual quadrature current
M976->Y:$0004B9,8,16,S ; #9 Actual direct current
M977->X:$0004BC,8,16,S ; #9 Quadrature current-loop integrator output
M978->Y:$0004BC,8,16,S ; #9 Direct current-loop integrator output
M979->X:$0004AE,8,16,S ; #9 PID internal filter result (16-bit DAC bits)
Motor #9 Axis Definition Registers
M991->L:$0004CF ; #9 X/U/A/B/C-Axis scale factor (cts/unit)
M992->L:$0004D0 ; #9 Y/V-Axis scale factor (cts/unit)
M993->L:$0004D1 ; #9 Z/W-Axis scale factor (cts/unit)
M994->L:$0004D2 ; #9 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 2 (usually for Motor #10)
M1001->X:$078205,0,24,S ; ENC2 24-bit counter position
M1002->Y:$078202,8,16,S ; DAC2 16-bit analog output
M1003->X:$078207,0,24,S ; ENC2 capture/compare position register
M1005->Y:$078207,8,16,S ; ADC2 16-bit analog input
M1006->Y:$078204,0,24,U ; ENC2 time between counts (SCLK cycles)
M1010->X:$078204,10,1 ; ENC2 count-write enable control
M1011->X:$078204,11,1 ; EQU2 compare flag latch control
M1012->X:$078204,12,1 ; EQU2 compare output enable
M1013->X:$078204,13,1 ; EQU2 compare invert enable
M1014->X:$078204,14,1 ; AENA2/DIR2 Output
M1016->X:$078204,16,1 ; EQU2 compare flag
M1017->X:$078204,17,1 ; ENC2 position-captured flag