Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 589
M2474->D:$000C6F ; #24 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2475->X:$000C39,8,16,S ; #24 Actual quadrature current
M2476->Y:$000C39,8,16,S ; #24 Actual direct current
M2477->X:$000C3C,8,16,S ; #24 Quadrature current-loop integrator output
M2478->Y:$000C3C,8,16,S ; #24 Direct current-loop integrator output
M2479->X:$000C2E,8,16,S ; #24 PID internal filter result (16-bit DAC bits)
Motor #24 Axis Definition Registers
M2491->L:$000C4F ; #24 X/U/A/B/C-Axis scale factor (cts/unit)
M2492->L:$000C50 ; #24 Y/V-Axis scale factor (cts/unit)
M2493->L:$000C51 ; #24 Z/W-Axis scale factor (cts/unit)
M2494->L:$000C52 ; #24 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 1 (usually for Motor #25)
M2501->X:$07A201,0,24,S ; ENC1 24-bit counter position
M2502->Y:$07A203,8,16,S ; DAC1 16-bit analog output
M2503->X:$07A203,0,24,S ; ENC1 capture/compare position register
M2505->Y:$07A206,8,16,S ; ADC1 16-bit analog input
M2506->Y:$07A200,0,24,U ; ENC1 time between counts (SCLK cycles)
M2510->X:$07A200,10,1 ; ENC1 count-write enable control
M2511->X:$07A200,11,1 ; EQU1 compare flag latch control
M2512->X:$07A200,12,1 ; EQU1 compare output enable
M2513->X:$07A200,13,1 ; EQU1 compare invert enable
M2514->X:$07A200,14,1 ; AENA1/DIR1 Output
M2516->X:$07A200,16,1 ; EQU1 compare flag
M2517->X:$07A200,17,1 ; ENC1 position-captured flag
M2518->X:$07A200,18,1 ; ENC1 Count-error flag
M2519->X:$07A200,19,1 ; ENC1 3rd channel input status
M2520->X:$07A200,20,1 ; HMFL1 input status
M2521->X:$07A200,21,1 ; -LIM1 (positive end) input status
M2522->X:$07A200,22,1 ; +LIM1 (negative end) input status
M2523->X:$07A200,23,1 ; FAULT1 input status
Motor #25 Status Bits
M2530->Y:$000CC0,11,1 ; #25 Stopped-on-position-limit bit
M2531->X:$000CB0,21,1 ; #25 Positive-end-limit-set bit
M2532->X:$000CB0,22,1 ; #25 Negative-end-limit-set bit
M2533->X:$000CB0,13,1 ; #25 Desired-velocity-zero bit
M2535->X:$000CB0,15,1 ; #25 Dwell-in-progress bit
M2537->X:$000CB0,17,1 ; #25 Running-program bit
M2538->X:$000CB0,18,1 ; #25 Open-loop-mode bit
M2539->X:$000CB0,19,1 ; #25 Amplifier-enabled status bit
M2540->Y:$000CC0,0,1 ; #25 Background in-position bit
M2541->Y:$000CC0,1,1 ; #25 Warning-following error bit
M2542->Y:$000CC0,2,1 ; #25 Fatal-following-error bit
M2543->Y:$000CC0,3,1 ; #25 Amplifier-fault-error bit
M2544->Y:$000CC0,13,1 ; #25 Foreground in-position bit
M2545->Y:$000CC0,10,1 ; #25 Home-complete bit
M2546->Y:$000CC0,6,1 ; #25 Integrated following error fault bit
M2547->Y:$000CC0,5,1 ; #25 I2T fault bit
M2548->Y:$000CC0,8,1 ; #25 Phasing error fault bit
M2549->Y:$000CC0,9,1 ; #25 Phasing search-in-progress bit