Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 656
M2774->D:$000DEF ; #27 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2775->X:$000DB9,8,16,S ; #27 Actual quadrature current
M2776->Y:$000DB9,8,16,S ; #27 Actual direct current
M2777->X:$000DBC,8,16,S ; #27 Quadrature current-loop integrator output
M2778->Y:$000DBC,8,16,S ; #27 Direct current-loop integrator output
M2779->X:$000DAE,8,16,S ; #27 PID internal filter result (16-bit DAC bits)
M2788->Y:$07A211,0,12,U ; IC 6 Ch 3 Compare A fractional count
M2789->Y:$07A210,0,12,U ; IC 6 Ch 3 Compare A fractional count
Motor #27 Axis Definition Registers
M2791->L:$000DCF ; #27 X/U/A/B/C-Axis scale factor (cts/unit)
M2792->L:$000DD0 ; #27 Y/V-Axis scale factor (cts/unit)
M2793->L:$000DD1 ; #27 Z/W-Axis scale factor (cts/unit)
M2794->L:$000DD2 ; #27 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 4 (usually for Motor #28)
M2801->X:$07A219,0,24,S ; ENC4 24-bit counter position
M2802->Y:$07A21A,8,16,S ; OUT4A command value; DAC or PWM
M2803->X:$07A21B,0,24,S ; ENC4 captured position
M2804->Y:$07A21B,8,16,S ; OUT4B command value; DAC or PWM
M2805->Y:$07A21D,8,16,S ; ADC4A input value
M2806->Y:$07A21E,8,16,S ; ADC4B input value
M2807->Y:$07A21C,8,16,S ; OUT4C command value; PFM or PWM
M2808->Y:$07A21F,0,24,S ; ENC4 compare A position
M2809->X:$07A21F,0,24,S ; ENC4 compare B position
M2810->X:$07A21E,0,24,S ; ENC4 compare autoincrement value
M2811->X:$07A21D,11 ; ENC4 compare initial state write enable
M2812->X:$07A21D,12 ; ENC4 compare initial state
M2814->X:$07A21D,14 ; AENA4 output status
M2815->X:$07A218,19 ; USER4 flag input status
M2816->X:$07A218,9 ; ENC4 compare output value
M2817->X:$07A218,11 ; ENC4 capture flag
M2818->X:$07A218,8 ; ENC4 count error flag
M2819->X:$07A218,14 ; HMFL4 flag input status
M2820->X:$07A218,16 ; CHC4 input status
M2821->X:$07A218,17 ; PLIM4 flag input status
M2822->X:$07A218,18 ; MLIM4 flag input status
M2823->X:$07A218,15 ; FAULT4 flag input status
M2824->X:$07A218,20 ; Channel 4 W flag input status
M2825->X:$07A218,21 ; Channel 4 V flag input status
M2826->X:$07A218,22 ; Channel 4 U flag input status
M2827->X:$07A218,23 ; Channel 4 T flag input status
M2828->X:$07A218,20,4 ; Channel 4 TUVW inputs as 4-bit value
Motor #28 Status Bits
M2830->Y:$000E40,11,1 ; #28 Stopped-on-position-limit bit
M2831->X:$000E30,21,1 ; #28 Positive-end-limit-set bit
M2832->X:$000E30,22,1 ; #28 Negative-end-limit-set bit
M2833->X:$000E30,13,1 ; #28 Desired-velocity-zero bit
M2835->X:$000E30,15,1 ; #28 Dwell-in-progress bit
M2837->X:$000E30,17,1 ; #28 Running-program bit
M2838->X:$000E30,18,1 ; #28 Open-loop-mode bit
M2839->X:$000E30,19,1 ; #28 Amplifier-enabled status bit
M2840->Y:$000E40,0,1 ; #28 Background in-position bit