Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 641
Motor #18 Move Registers
M1861->D:$000908 ; #18 Commanded position (1/[Ixx08*32] cts)
M1862->D:$00090B ; #18 Actual position (1/[Ixx08*32] cts)
M1863->D:$000947 ; #18 Target (end) position (1/[Ixx08*32] cts)
M1864->D:$00094C ; #18 Position bias (1/[Ixx08*32] cts)
M1866->X:$00091D,0,24,S ; #18 Actual velocity (1/[Ixx09*32] cts/cyc)
M1867->D:$00090D ; #18 Present master pos (1/[Ixx07*32] cts)
M1868->X:$00093F,8,16,S ; #18 Filter Output (16-bit DAC bits)
M1869->D:$000910 ; #18 Compensation correction (1/[Ixx08*32] cts)
M1870->D:$000934 ; #18 Present phase position (including fraction)
M1871->X:$000934,24,S ; #18 Present phase position (counts *Ixx70)
M1872->L:$000957 ; #18 Variable jog position/distance (cts)
M1873->Y:$00094E,0,24,S ; #18 Encoder home capture position (cts)
M1874->D:$00096F ; #18 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1875->X:$000939,8,16,S ; #18 Actual quadrature current
M1876->Y:$000939,8,16,S ; #18 Actual direct current
M1877->X:$00093C,8,16,S ; #18 Quadrature current-loop integrator output
M1878->Y:$00093C,8,16,S ; #18 Direct current-loop integrator output
M1879->X:$00092E,8,16,S ; #18 PID internal filter result (16-bit DAC bits)
M1888->Y:$079209,0,12,U ; IC 4 Ch 2 Compare A fractional count
M1889->Y:$079208,0,12,U ; IC 4 Ch 2 Compare A fractional count
Motor #18 Axis Definition Registers
M1891->L:$00094F ; #18 X/U/A/B/C-Axis scale factor (cts/unit)
M1892->L:$000950 ; #18 Y/V-Axis scale factor (cts/unit)
M1893->L:$000951 ; #18 Z/W-Axis scale factor (cts/unit)
M1894->L:$000952 ; #18 Axis offset (cts)
Servo IC 4 Registers for Second Acc-24 Channel 3 (usually for Motor #19)
M1901->X:$079211,0,24,S ; ENC3 24-bit counter position
M1902->Y:$079212,8,16,S ; OUT3A command value; DAC or PWM
M1903->X:$079213,0,24,S ; ENC3 captured position
M1904->Y:$079213,8,16,S ; OUT3B command value; DAC or PWM
M1905->Y:$079215,8,16,S ; ADC3A input value
M1906->Y:$079216,8,16,S ; ADC3B input value
M1907->Y:$079214,8,16,S ; OUT3C command value; PFM or PWM
M1908->Y:$079217,0,24,S ; ENC3 compare A position
M1909->X:$079217,0,24,S ; ENC3 compare B position
M1910->X:$079216,0,24,S ; ENC3 compare autoincrement value
M1911->X:$079215,11 ; ENC3 compare initial state write enable
M1912->X:$079215,12 ; ENC3 compare initial state
M1914->X:$079215,14 ; AENA3 output status
M1915->X:$079210,19 ; USER3 flag input status
M1916->X:$079210,9 ; ENC3 compare output value
M1917->X:$079210,11 ; ENC3 capture flag
M1918->X:$079210,8 ; ENC3 count error flag
M1919->X:$079210,14 ; CHC3 input status
M1920->X:$079210,16 ; HMFL3 flag input status
M1921->X:$079210,17 ; PLIM3 flag input status
M1922->X:$079210,18 ; MLIM3 flag input status
M1923->X:$079210,15 ; FAULT3 flag input status
M1924->X:$079210,20 ; Channel 3 W flag input status
M1925->X:$079210,21 ; Channel 3 V flag input status