Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 592
M2721->X:$07A208,21,1 ; -LIM3 (positive end) input status
M2722->X:$07A208,22,1 ; +LIM3 (negative end) input status
M2723->X:$07A208,23,1 ; FAULT3 input status
Motor #27 Status Bits
M2730->Y:$000DC0,11,1 ; #27 Stopped-on-position-limit bit
M2731->X:$000DB0,21,1 ; #27 Positive-end-limit-set bit
M2732->X:$000DB0,22,1 ; #27 Negative-end-limit-set bit
M2733->X:$000DB0,13,1 ; #27 Desired-velocity-zero bit
M2735->X:$000DB0,15,1 ; #27 Dwell-in-progress bit
M2737->X:$000DB0,17,1 ; #27 Running-program bit
M2738->X:$000DB0,18,1 ; #27 Open-loop-mode bit
M2739->X:$000DB0,19,1 ; #27 Amplifier-enabled status bit
M2740->Y:$000DC0,0,1 ; #27 Background in-position bit
M2741->Y:$000DC0,1,1 ; #27 Warning-following error bit
M2742->Y:$000DC0,2,1 ; #27 Fatal-following-error bit
M2743->Y:$000DC0,3,1 ; #27 Amplifier-fault-error bit
M2744->Y:$000DC0,13,1 ; #27 Foreground in-position bit
M2745->Y:$000DC0,10,1 ; #27 Home-complete bit
M2746->Y:$000DC0,6,1 ; #27 Integrated following error fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2748->Y:$000DC0,8,1 ; #27 Phasing error fault bit
M2749->Y:$000DC0,9,1 ; #27 Phasing search-in-progress bit
Motor #27 Move Registers
M2761->D:$000D88 ; #27 Commanded position (1/[Ixx08*32] cts)
M2762->D:$000D8B ; #27 Actual position (1/[Ixx08*32] cts)
M2763->D:$000DC7 ; #27 Target (end) position (1/[Ixx08*32] cts)
M2764->D:$000DCC ; #27 Position bias (1/[Ixx08*32] cts)
M2766->X:$000D9D,0,24,S ; #27 Actual velocity (1/[Ixx09*32] cts/cyc)
M2767->D:$000D8D ; #27 Present master pos (1/[Ixx07*32] cts)
M2768->X:$000DBF,8,16,S ; #27 Filter Output (16-bit DAC bits)
M2769->D:$000D90 ; #27 Compensation correction (1/[Ixx08*32] cts)
M2770->D:$000DB4 ; #27 Present phase position (including fraction)
M2771->X:$000DB4,24,S ; #27 Present phase position (counts *Ixx70)
M2772->L:$000DD7 ; #27 Variable jog position/distance (cts)
M2773->Y:$000DCE,0,24,S ; #27 Encoder home capture position (cts)
M2774->D:$000DEF ; #27 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2775->X:$000DB9,8,16,S ; #27 Actual quadrature current
M2776->Y:$000DB9,8,16,S ; #27 Actual direct current
M2777->X:$000DBC,8,16,S ; #27 Quadrature current-loop integrator output
M2778->Y:$000DBC,8,16,S ; #27 Direct current-loop integrator output
M2779->X:$000DAE,8,16,S ; #27 PID internal filter result (16-bit DAC bits)
Motor #27 Axis Definition Registers
M2791->L:$000DCF ; #27 X/U/A/B/C-Axis scale factor (cts/unit)
M2792->L:$000DD0 ; #27 Y/V-Axis scale factor (cts/unit)
M2793->L:$000DD1 ; #27 Z/W-Axis scale factor (cts/unit)
M2794->L:$000DD2 ; #27 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 4 (usually for Motor #28)
M2801->X:$07A20D,0,24,S ; ENC4 24-bit counter position
M2802->Y:$07A20A,8,16,S ; DAC4 16-bit analog output
M2803->X:$07A20F,0,24,S ; ENC4 capture/compare position register
M2805->Y:$07A20F,8,16,S ; ADC4 16-bit analog input