Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 651
M2470->D:$000C34 ; #24 Present phase position (including fraction)
M2471->X:$000C34,24,S ; #24 Present phase position (counts *Ixx70)
M2472->L:$000C57 ; #24 Variable jog position/distance (cts)
M2473->Y:$000C4E,0,24,S ; #24 Encoder home capture position (cts)
M2474->D:$000C6F ; #24 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2475->X:$000C39,8,16,S ; #24 Actual quadrature current
M2476->Y:$000C39,8,16,S ; #24 Actual direct current
M2477->X:$000C3C,8,16,S ; #24 Quadrature current-loop integrator output
M2478->Y:$000C3C,8,16,S ; #24 Direct current-loop integrator output
M2479->X:$000C2E,8,16,S ; #24 PID internal filter result (16-bit DAC bits)
M2488->Y:$079319,0,12,U ; IC 5 Ch 4 Compare A fractional count
M2489->Y:$079318,0,12,U ; IC 5 Ch 4 Compare A fractional count
Motor #24 Axis Definition Registers
M2491->L:$000C4F ; #24 X/U/A/B/C-Axis scale factor (cts/unit)
M2492->L:$000C50 ; #24 Y/V-Axis scale factor (cts/unit)
M2493->L:$000C51 ; #24 Z/W-Axis scale factor (cts/unit)
M2494->L:$000C52 ; #24 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 1 (usually for Motor #25)
M2501->X:$07A201,0,24,S ; ENC1 24-bit counter position
M2502->Y:$07A202,8,16,S ; OUT1A command value; DAC or PWM
M2503->X:$07A203,0,24,S ; ENC1 captured position
M2504->Y:$07A203,8,16,S ; OUT1B command value; DAC or PWM
M2505->Y:$07A205,8,16,S ; ADC1A input value
M2506->Y:$07A206,8,16,S ; ADC1B input value
M2507->Y:$07A204,8,16,S ; OUT1C command value; PFM or PWM
M2508->Y:$07A207,0,24,S ; ENC1 compare A position
M2509->X:$07A207,0,24,S ; ENC1 compare B position
M2510->X:$07A206,0,24,S ; ENC1 compare autoincrement value
M2511->X:$07A205,11 ; ENC1 compare initial state write enable
M2512->X:$07A205,12 ; ENC1 compare initial state
M2514->X:$07A205,14 ; AENA1 output status
M2515->X:$07A200,19 ; USER1 flag input status
M2516->X:$07A200,9 ; ENC1 compare output value
M2517->X:$07A200,11 ; ENC1 capture flag
M2518->X:$07A200,8 ; ENC1 count error flag
M2519->X:$07A200,14 ; CHC1 input status
M2520->X:$07A200,16 ; HMFL1 flag input status
M2521->X:$07A200,17 ; PLIM1 flag input status
M2522->X:$07A200,18 ; MLIM1 flag input status
M2523->X:$07A200,15 ; FAULT1 flag input status
M2524->X:$07A200,20 ; Channel 1 W flag input status
M2525->X:$07A200,21 ; Channel 1 V flag input status
M2526->X:$07A200,22 ; Channel 1 U flag input status
M2527->X:$07A200,23 ; Channel 1 T flag input status
M2528->X:$07A200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #25 Status Bits
M2530->Y:$000CC0,11,1 ; #25 Stopped-on-position-limit bit
M2531->X:$000CB0,21,1 ; #25 Positive-end-limit-set bit
M2532->X:$000CB0,22,1 ; #25 Negative-end-limit-set bit
M2533->X:$000CB0,13,1 ; #25 Desired-velocity-zero bit
M2535->X:$000CB0,15,1 ; #25 Dwell-in-progress bit