Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 646
M2167->D:$000A8D ; #21 Present master pos (1/[Ixx07*32] cts)
M2168->X:$000ABF,8,16,S ; #21 Filter Output (16-bit DAC bits)
M2169->D:$000A90 ; #21 Compensation correction (1/[Ixx08*32] cts)
M2170->D:$000AB4 ; #21 Present phase position (including fraction)
M2171->X:$000AB4,24,S ; #21 Present phase position (counts *Ixx70)
M2172->L:$000AD7 ; #21 Variable jog position/distance (cts)
M2173->Y:$000ACE,0,24,S ; #21 Encoder home capture position (cts)
M2174->D:$000AEF ; #21 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2175->X:$000AB9,8,16,S ; #21 Actual quadrature current
M2176->Y:$000AB9,8,16,S ; #21 Actual direct current
M2177->X:$000ABC,8,16,S ; #21 Quadrature current-loop integrator output
M2178->Y:$000ABC,8,16,S ; #21 Direct current-loop integrator output
M2179->X:$000AAE,8,16,S ; #21 PID internal filter result (16-bit DAC bits)
M2188->Y:$079301,0,12,U ; IC 5 Ch 1 Compare A fractional count
M2189->Y:$079300,0,12,U ; IC 5 Ch 1 Compare A fractional count
Motor #21 Axis Definition Registers
M2191->L:$000ACF ; #21 X/U/A/B/C-Axis scale factor (cts/unit)
M2192->L:$000AD0 ; #21 Y/V-Axis scale factor (cts/unit)
M2193->L:$000AD1 ; #21 Z/W-Axis scale factor (cts/unit)
M2194->L:$000AD2 ; #21 Axis offset (cts)
Servo IC 5 Registers for Second Acc-24 Channel 6 (usually for Motor #22)
M2201->X:$079309,0,24,S ; ENC6 24-bit counter position
M2202->Y:$07930A,8,16,S ; OUT6A command value; DAC or PWM
M2203->X:$07930B,0,24,S ; ENC6 captured position
M2204->Y:$07930B,8,16,S ; OUT6B command value; DAC or PWM
M2205->Y:$07930D,8,16,S ; ADC6A input value
M2206->Y:$07930E,8,16,S ; ADC6B input value
M2207->Y:$07930C,8,16,S ; OUT6C command value; PFM or PWM
M2208->Y:$07930F,0,24,S ; ENC6 compare A position
M2209->X:$07930F,0,24,S ; ENC6 compare B position
M2210->X:$07930E,0,24,S ; ENC6 compare autoincrement value
M2211->X:$07930D,11 ; ENC6 compare initial state write enable
M2212->X:$07930D,12 ; ENC6 compare initial state
M2214->X:$07930D,14 ; AENA6 output status
M2215->X:$079308,19 ; USER6 flag input status
M2216->X:$079308,9 ; ENC6 compare output value
M2217->X:$079308,11 ; ENC6 capture flag
M2218->X:$079308,8 ; ENC6 count error flag
M2219->X:$079308,14 ; CHC6 input status
M2220->X:$079308,16 ; HMFL6 flag input status
M2221->X:$079308,17 ; PLIM6 flag input status
M2222->X:$079308,18 ; MLIM6 flag input status
M2223->X:$079308,15 ; FAULT6 flag input status
M2224->X:$079308,20 ; Channel 6 W flag input status
M2225->X:$079308,21 ; Channel 6 V flag input status
M2226->X:$079308,22 ; Channel 6 U flag input status
M2227->X:$079308,23 ; Channel 6 T flag input status
M2228->X:$079308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #22 Status Bits
M2230->Y:$000B40,11,1 ; #22 Stopped-on-position-limit bit
M2231->X:$000B30,21,1 ; #22 Positive-end-limit-set bit