Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 679
M167->D:$00008D ; #1 Present master pos (1/[Ixx07*32] cts)
M168->X:$0000BF,8,16,S ; #1 Filter Output (16-bit DAC bits)
M169->D:$000090 ; #1 Compensation correction (1/[Ixx08*32] cts)
M170->D:$0000B4 ; #1 Present phase position (including fraction)
M171->X:$0000B4,24,S ; #1 Present phase position (counts *Ixx70)
M172->L:$0000D7 ; #1 Variable jog position/distance (cts)
M173->Y:$0000CE,0,24,S ; #1 Encoder home capture position (cts)
M174->D:$0000EF ; #1 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M175->X:$0000B9,8,16,S ; #1 Actual quadrature current
M176->Y:$0000B9,8,16,S ; #1 Actual direct current
M177->X:$0000BC,8,16,S ; #1 Quadrature current-loop integrator output
M178->Y:$0000BC,8,16,S ; #1 Direct current-loop integrator output
M179->X:$0000AE,8,16,S ; #1 PID internal filter result (16-bit DAC bits)
M188->Y:$078201,0,12,U ; IC 2 Ch 1 Compare A fractional count
M189->Y:$078200,0,12,U ; IC 2 Ch 1 Compare B fractional count
Motor #1 Axis Definition Registers
M191->L:$0000CF ; #1 X/U/A/B/C-Axis scale factor (cts/unit)
M192->L:$0000D0 ; #1 Y/V-Axis scale factor (cts/unit)
M193->L:$0000D1 ; #1 Z/W-Axis scale factor (cts/unit)
M194->L:$0000D2 ; #1 Axis offset (cts)
Servo IC 2 Registers for PMAC2 Channel 2 (usually for Motor #2)
M201->X:$078209,0,24,S ; ENC2 24-bit counter position
M202->Y:$07820A,8,16,S ; OUT2A command value; DAC or PWM
M203->X:$07820B,0,24,S ; ENC2 captured position
M204->Y:$07820B,8,16,S ; OUT2B command value; DAC or PWM
M205->Y:$07820D,8,16,S ; ADC2A input value
M206->Y:$07820E,8,16,S ; ADC2B input value
M207->Y:$07820C,8,16,S ; OUT2C command value; PFM or PWM
M208->Y:$07820F,0,24,S ; ENC2 compare A position
M209->X:$07820F,0,24,S ; ENC2 compare B position
M210->X:$07820E,0,24,S ; ENC2 compare autoincrement value
M211->X:$07820D,11 ; ENC2 compare initial state write enable
M212->X:$07820D,12 ; ENC2 compare initial state
M214->X:$07820D,14 ; AENA2 output status
M215->X:$078208,19 ; USER2 flag input status
M216->X:$078208,9 ; ENC2 compare output value
M217->X:$078208,11 ; ENC2 capture flag
M218->X:$078208,8 ; ENC2 count error flag
M219->X:$078208,14 ; CHC2 input status
M220->X:$078208,16 ; HMFL2 flag input status
M221->X:$078208,17 ; PLIM2 flag input status
M222->X:$078208,18 ; MLIM2 flag input status
M223->X:$078208,15 ; FAULT2 flag input status
M224->X:$078208,20 ; Channel 2 W flag input status
M225->X:$078208,21 ; Channel 2 V flag input status
M226->X:$078208,22 ; Channel 2 U flag input status
M227->X:$078208,23 ; Channel 2 T flag input status
M228->X:$078208,20,4 ; Channel 2 TUVW inputs as 4-bit value