Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 595
M2968->X:$000EBF,8,16,S ; #29 Filter Output (16-bit DAC bits)
M2969->D:$000E90 ; #29 Compensation correction (1/[Ixx08*32] cts)
M2970->D:$000EB4 ; #29 Present phase position (including fraction)
M2971->X:$000EB4,24,S ; #29 Present phase position (counts *Ixx70)
M2972->L:$000ED7 ; #29 Variable jog position/distance (cts)
M2973->Y:$000ECE,0,24,S ; #29 Encoder home capture position (cts)
M2974->D:$000EEF ; #29 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2975->X:$000EB9,8,16,S ; #29 Actual quadrature current
M2976->Y:$000EB9,8,16,S ; #29 Actual direct current
M2977->X:$000EBC,8,16,S ; #29 Quadrature current-loop integrator output
M2978->Y:$000EBC,8,16,S ; #29 Direct current-loop integrator output
M2979->X:$000EAE,8,16,S ; #29 PID internal filter result (16-bit DAC bits)
Motor #29 Axis Definition Registers
M2991->L:$000ECF ; #29 X/U/A/B/C-Axis scale factor (cts/unit)
M2992->L:$000ED0 ; #29 Y/V-Axis scale factor (cts/unit)
M2993->L:$000ED1 ; #29 Z/W-Axis scale factor (cts/unit)
M2994->L:$000ED2 ; #29 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 6 (usually for Motor #30)
M3001->X:$07A305,0,24,S ; ENC6 24-bit counter position
M3002->Y:$07A302,8,16,S ; DAC6 16-bit analog output
M3003->X:$07A307,0,24,S ; ENC6 capture/compare position register
M3005->Y:$07A307,8,16,S ; ADC6 16-bit analog input
M3006->Y:$07A304,0,24,U ; ENC6 time between counts (SCLK cycles)
M3010->X:$07A304,10,1 ; ENC6 count-write enable control
M3011->X:$07A304,11,1 ; EQU6 compare flag latch control
M3012->X:$07A304,12,1 ; EQU6 compare output enable
M3013->X:$07A304,13,1 ; EQU6 compare invert enable
M3014->X:$07A304,14,1 ; AENA6/DIR6 Output
M3016->X:$07A304,16,1 ; EQU6 compare flag
M3017->X:$07A304,17,1 ; ENC6 position-captured flag
M3018->X:$07A304,18,1 ; ENC6 Count-error flag
M3019->X:$07A304,19,1 ; ENC6 3rd channel input status
M3020->X:$07A304,20,1 ; HMFL6 input status
M3021->X:$07A304,21,1 ; -LIM6 (positive end) input status
M3022->X:$07A304,22,1 ; +LIM6 (negative end) input status
M3023->X:$07A304,23,1 ; FAULT6 input status
Motor #30 Status Bits
M3030->Y:$000F40,11,1 ; #30 Stopped-on-position-limit bit
M3031->X:$000F30,21,1 ; #30 Positive-end-limit-set bit
M3032->X:$000F30,22,1 ; #30 Negative-end-limit-set bit
M3033->X:$000F30,13,1 ; #30 Desired-velocity-zero bit
M3035->X:$000F30,15,1 ; #30 Dwell-in-progress bit
M3037->X:$000F30,17,1 ; #30 Running-program bit
M3038->X:$000F30,18,1 ; #30 Open-loop-mode bit
M3039->X:$000F30,19,1 ; #30 Amplifier-enabled status bit
M3040->Y:$000F40,0,1 ; #30 Background in-position bit
M3041->Y:$000F40,1,1 ; #30 Warning-following error bit
M3042->Y:$000F40,2,1 ; #30 Fatal-following-error bit
M3043->Y:$000F40,3,1 ; #30 Amplifier-fault-error bit
M3044->Y:$000F40,13,1 ; #30 Foreground in-position bit
M3045->Y:$000F40,10,1 ; #30 Home-complete bit