Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 585
M2146->Y:$000AC0,6,1 ; #21 Integrated following error fault bit
M2147->Y:$000AC0,5,1 ; #21 I2T fault bit
M2148->Y:$000AC0,8,1 ; #21 Phasing error fault bit
M2149->Y:$000AC0,9,1 ; #21 Phasing search-in-progress bit
Motor #21 Move Registers
M2161->D:$000A88 ; #21 Commanded position (1/[Ixx08*32] cts)
M2162->D:$000A8B ; #21 Actual position (1/[Ixx08*32] cts)
M2163->D:$000AC7 ; #21 Target (end) position (1/[Ixx08*32] cts)
M2164->D:$000ACC ; #21 Position bias (1/[Ixx08*32] cts)
M2166->X:$000A9D,0,24,S ; #21 Actual velocity (1/[Ixx09*32] cts/cyc)
M2167->D:$000A8D ; #21 Present master pos (1/[Ixx07*32] cts)
M2168->X:$000ABF,8,16,S ; #21 Filter Output (16-bit DAC bits)
M2169->D:$000A90 ; #21 Compensation correction (1/[Ixx08*32] cts)
M2170->D:$000AB4 ; #21 Present phase position (including fraction)
M2171->X:$000AB4,24,S ; #21 Present phase position (counts *Ixx70)
M2172->L:$000AD7 ; #21 Variable jog position/distance (cts)
M2173->Y:$000ACE,0,24,S ; #21 Encoder home capture position (cts)
M2174->D:$000AEF ; #21 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2175->X:$000AB9,8,16,S ; #21 Actual quadrature current
M2176->Y:$000AB9,8,16,S ; #21 Actual direct current
M2177->X:$000ABC,8,16,S ; #21 Quadrature current-loop integrator output
M2178->Y:$000ABC,8,16,S ; #21 Direct current-loop integrator output
M2179->X:$000AAE,8,16,S ; #21 PID internal filter result (16-bit DAC bits)
Motor #21 Axis Definition Registers
M2191->L:$000ACF ; #21 X/U/A/B/C-Axis scale factor (cts/unit)
M2192->L:$000AD0 ; #21 Y/V-Axis scale factor (cts/unit)
M2193->L:$000AD1 ; #21 Z/W-Axis scale factor (cts/unit)
M2194->L:$000AD2 ; #21 Axis offset (cts)
Servo IC 5 Registers for Second Acc-24 Channel 6 (usually for Motor #22)
M2201->X:$079305,0,24,S ; ENC6 24-bit counter position
M2202->Y:$079302,8,16,S ; DAC6 16-bit analog output
M2203->X:$079307,0,24,S ; ENC6 capture/compare position register
M2205->Y:$079307,8,16,S ; ADC6 16-bit analog input
M2206->Y:$079304,0,24,U ; ENC6 time between counts (SCLK cycles)
M2210->X:$079304,10,1 ; ENC6 count-write enable control
M2211->X:$079304,11,1 ; EQU6 compare flag latch control
M2212->X:$079304,12,1 ; EQU6 compare output enable
M2213->X:$079304,13,1 ; EQU6 compare invert enable
M2214->X:$079304,14,1 ; AENA6/DIR6 Output
M2216->X:$079304,16,1 ; EQU6 compare flag
M2217->X:$079304,17,1 ; ENC6 position-captured flag
M2218->X:$079304,18,1 ; ENC6 Count-error flag
M2219->X:$079304,19,1 ; ENC6 3rd channel input status
M2220->X:$079304,20,1 ; HMFL6 input status
M2221->X:$079304,21,1 ; -LIM6 (positive end) input status
M2222->X:$079304,22,1 ; +LIM6 (negative end) input status
M2223->X:$079304,23,1 ; FAULT6 input status
Motor #22 Status Bits
M2230->Y:$000B40,11,1 ; #22 Stopped-on-position-limit bit
M2231->X:$000B30,21,1 ; #22 Positive-end-limit-set bit
M2232->X:$000B30,22,1 ; #22 Negative-end-limit-set bit