Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 576
M1421->X:$078304,21,1 ; -LIM6 (positive end) input status
M1422->X:$078304,22,1 ; +LIM6 (negative end) input status
M1423->X:$078304,23,1 ; FAULT6 input status
Motor #14 Status Bits
M1430->Y:$000740,11,1 ; #14 Stopped-on-position-limit bit
M1431->X:$000730,21,1 ; #14 Positive-end-limit-set bit
M1432->X:$000730,22,1 ; #14 Negative-end-limit-set bit
M1433->X:$000730,13,1 ; #14 Desired-velocity-zero bit
M1435->X:$000730,15,1 ; #14 Dwell-in-progress bit
M1437->X:$000730,17,1 ; #14 Running-program bit
M1438->X:$000730,18,1 ; #14 Open-loop-mode bit
M1439->X:$000730,19,1 ; #14 Amplifier-enabled status bit
M1440->Y:$000740,0,1 ; #14 Background in-position bit
M1441->Y:$000740,1,1 ; #14 Warning-following error bit
M1442->Y:$000740,2,1 ; #14 Fatal-following-error bit
M1443->Y:$000740,3,1 ; #14 Amplifier-fault-error bit
M1444->Y:$000740,13,1 ; #14 Foreground in-position bit
M1445->Y:$000740,10,1 ; #14 Home-complete bit
M1446->Y:$000740,6,1 ; #14 Integrated following error fault bit
M1447->Y:$000740,5,1 ; #14 I2T fault bit
M1448->Y:$000740,8,1 ; #14 Phasing error fault bit
M1449->Y:$000740,9,1 ; #14 Phasing search-in-progress bit
Motor #14 Move Registers
M1461->D:$000708 ; #14 Commanded position (1/[Ixx08*32] cts)
M1462->D:$00070B ; #14 Actual position (1/[Ixx08*32] cts)
M1463->D:$000747 ; #14 Target (end) position (1/[Ixx08*32] cts)
M1464->D:$00074C ; #14 Position bias (1/[Ixx08*32] cts)
M1466->X:$00071D,0,24,S ; #14 Actual velocity (1/[Ixx09*32] cts/cyc)
M1467->D:$00070D ; #14 Present master pos (1/[Ixx07*32] cts)
M1468->X:$00073F,8,16,S ; #14 Filter Output (16-bit DAC bits)
M1469->D:$000710 ; #14 Compensation correction (1/[Ixx08*32] cts)
M1470->D:$000734 ; #14 Present phase position (including fraction)
M1471->X:$000734,24,S ; #14 Present phase position (counts *Ixx70)
M1472->L:$000757 ; #14 Variable jog position/distance (cts)
M1473->Y:$00074E,0,24,S ; #14 Encoder home capture position (cts)
M1474->D:$00076F ; #14 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1475->X:$000739,8,16,S ; #14 Actual quadrature current
M1476->Y:$000739,8,16,S ; #14 Actual direct current
M1477->X:$00073C,8,16,S ; #14 Quadrature current-loop integrator output
M1478->Y:$00073C,8,16,S ; #14 Direct current-loop integrator output
M1479->X:$00072E,8,16,S ; #14 PID internal filter result (16-bit DAC bits)
Motor #14 Axis Definition Registers
M1491->L:$00074F ; #14 X/U/A/B/C-Axis scale factor (cts/unit)
M1492->L:$000750 ; #14 Y/V-Axis scale factor (cts/unit)
M1493->L:$000751 ; #14 Z/W-Axis scale factor (cts/unit)
M1494->L:$000752 ; #14 Axis offset (cts)
Servo IC 3 Registers for First Acc-24 Channel 7 (usually for Motor #15)
M1501->X:$078309,0,24,S ; ENC7 24-bit counter position
M1502->Y:$07830B,8,16,S ; DAC7 16-bit analog output
M1503->X:$07830B,0,24,S ; ENC7 capture/compare position register
M1505->Y:$07830E,8,16,S ; ADC7 16-bit analog input