Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 623
Motor #7 Move Registers
M761->D:$000388 ; #7 Commanded position (1/[Ixx08*32] cts)
M762->D:$00038B ; #7 Actual position (1/[Ixx08*32] cts)
M763->D:$0003C7 ; #7 Target (end) position (1/[Ixx08*32] cts)
M764->D:$0003CC ; #7 Position bias (1/[Ixx08*32] cts)
M766->X:$00039D,0,24,S ; #7 Actual velocity (1/[Ixx09*32] cts/cyc)
M767->D:$00038D ; #7 Present master pos (1/[Ixx07*32] cts)
M768->X:$0003BF,8,16,S ; #7 Filter Output (16-bit DAC bits)
M769->D:$000390 ; #7 Compensation correction (1/[Ixx08*32] cts)
M770->D:$0003B4 ; #7 Present phase position (including fraction)
M771->X:$0003B4,24,S ; #7 Present phase position (counts *Ixx70)
M772->L:$0003D7 ; #7 Variable jog position/distance (cts)
M773->Y:$0003CE,0,24,S ; #7 Encoder home capture position (cts)
M774->D:$0003EF ; #7 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M775->X:$0003B9,8,16,S ; #7 Actual quadrature current
M776->Y:$0003B9,8,16,S ; #7 Actual direct current
M777->X:$0003BC,8,16,S ; #7 Quadrature current-loop integrator output
M778->Y:$0003BC,8,16,S ; #7 Direct current-loop integrator output
M779->X:$0003AE,8,16,S ; #7 PID internal filter result (16-bit DAC bits)
M788->Y:$078111,0,12,U ; IC 1 Ch 3 Compare A fractional count
M789->Y:$078110,0,12,U ; IC 1 Ch 3 Compare B fractional count
Motor #7 Axis Definition Registers
M791->L:$0003CF ; #7 X/U/A/B/C-Axis scale factor (cts/unit)
M792->L:$0003D0 ; #7 Y/V-Axis scale factor (cts/unit)
M793->L:$0003D1 ; #7 Z/W-Axis scale factor (cts/unit)
M794->L:$0003D2 ; #7 Axis offset (cts)
Servo IC 1 Registers for PMAC2 Channel 8 (usually for Motor #8)
M801->X:$078119,0,24,S ; ENC8 24-bit counter position
M802->Y:$07811A,8,16,S ; OUT8A command value; DAC or PWM
M803->X:$07811B,0,24,S ; ENC8 captured position
M804->Y:$07811B,8,16,S ; OUT8B command value; DAC or PWM
M805->Y:$07811D,8,16,S ; ADC8A input value
M806->Y:$07811E,8,16,S ; ADC8B input value
M807->Y:$07811C,8,16,S ; OUT8C command value; PFM or PWM
M808->Y:$07811F,0,24,S ; ENC8 compare A position
M809->X:$07811F,0,24,S ; ENC8 compare B position
M810->X:$07811E,0,24,S ; ENC8 compare autoincrement value
M811->X:$07811D,11 ; ENC8 compare initial state write enable
M812->X:$07811D,12 ; ENC8 compare initial state
M814->X:$07811D,14 ; AENA8 output status
M815->X:$078118,19 ; USER8 flag input status
M816->X:$078118,9 ; ENC8 compare output value
M817->X:$078118,11 ; ENC8 capture flag
M818->X:$078118,8 ; ENC8 count error flag
M819->X:$078118,14 ; CHC8 input status
M820->X:$078118,16 ; HMFL8 flag input status
M821->X:$078118,17 ; PLIM8 flag input status
M822->X:$078118,18 ; MLIM8 flag input status
M823->X:$078118,15 ; FAULT8 flag input status
M824->X:$078118,20 ; Channel 8 W flag input status
M825->X:$078118,21 ; Channel 8 V flag input status