Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 574
Motor #12 Move Registers
M1261->D:$000608 ; #12 Commanded position (1/[Ixx08*32] cts)
M1262->D:$00060B ; #12 Actual position (1/[Ixx08*32] cts)
M1263->D:$000647 ; #12 Target (end) position (1/[Ixx08*32] cts)
M1264->D:$00064C ; #12 Position bias (1/[Ixx08*32] cts)
M1266->X:$00061D,0,24,S ; #12 Actual velocity (1/[Ixx09*32] cts/cyc)
M1267->D:$00060D ; #12 Present master pos (1/[Ixx07*32] cts)
M1268->X:$00063F,8,16,S ; #12 Filter Output (16-bit DAC bits)
M1269->D:$000610 ; #12 Compensation correction (1/[Ixx08*32] cts)
M1270->D:$000634 ; #12 Present phase position (including fraction)
M1271->X:$000634,24,S ; #12 Present phase position (counts *Ixx70)
M1272->L:$000657 ; #12 Variable jog position/distance (cts)
M1273->Y:$00064E,0,24,S ; #12 Encoder home capture position (cts)
M1274->D:$00066F ; #12 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1275->X:$000639,8,16,S ; #12 Actual quadrature current
M1276->Y:$000639,8,16,S ; #12 Actual direct current
M1277->X:$00063C,8,16,S ; #12 Quadrature current-loop integrator output
M1278->Y:$00063C,8,16,S ; #12 Direct current-loop integrator output
M1279->X:$00062E,8,16,S ; #12 PID internal filter result (16-bit DAC bits)
Motor #12 Axis Definition Registers
M1291->L:$00064F ; #12 X/U/A/B/C-Axis scale factor (cts/unit)
M1292->L:$000650 ; #12 Y/V-Axis scale factor (cts/unit)
M1293->L:$000651 ; #12 Z/W-Axis scale factor (cts/unit)
M1294->L:$000652 ; #12 Axis offset (cts)
Servo IC 3 Registers for First Acc-24 Channel 5 (usually for Motor #13)
M1301->X:$078301,0,24,S ; ENC5 24-bit counter position
M1302->Y:$078303,8,16,S ; DAC5 16-bit analog output
M1303->X:$078303,0,24,S ; ENC5 capture/compare position register
M1305->Y:$078306,8,16,S ; ADC5 16-bit analog input
M1306->Y:$078300,0,24,U ; ENC5 time between counts (SCLK cycles)
M1310->X:$078300,10,1 ; ENC5 count-write enable control
M1311->X:$078300,11,1 ; EQU5 compare flag latch control
M1312->X:$078300,12,1 ; EQU5 compare output enable
M1313->X:$078300,13,1 ; EQU5 compare invert enable
M1314->X:$078300,14,1 ; AENA5/DIR5 Output
M1316->X:$078300,16,1 ; EQU5 compare flag
M1317->X:$078300,17,1 ; ENC5 position-captured flag
M1318->X:$078300,18,1 ; ENC5 Count-error flag
M1319->X:$078300,19,1 ; ENC5 3rd channel input status
M1320->X:$078300,20,1 ; HMFL5 input status
M1321->X:$078300,21,1 ; -LIM5 (positive end) input status
M1322->X:$078300,22,1 ; +LIM5 (negative end) input status
M1323->X:$078300,23,1 ; FAULT5 input status
Motor #13 Status Bits
M1330->Y:$0006C0,11,1 ; #13 Stopped-on-position-limit bit
M1331->X:$0006B0,21,1 ; #13 Positive-end-limit-set bit
M1332->X:$0006B0,22,1 ; #13 Negative-end-limit-set bit
M1333->X:$0006B0,13,1 ; #13 Desired-velocity-zero bit
M1335->X:$0006B0,15,1 ; #13 Dwell-in-progress bit
M1337->X:$0006B0,17,1 ; #13 Running-program bit
M1338->X:$0006B0,18,1 ; #13 Open-loop-mode bit