Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 707
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:$07A209,0,12,U ; IC 6 Ch 2 Compare A fractional count
M1889->Y:$07A208,0,12,U ; IC 6 Ch 2 Compare B 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 6 Channel 3 Registers (usually for Motor #19)
M1901->X:$07A211,0,24,S ; ENC3 24-bit counter position
M1902->Y:$07A212,8,16,S ; OUT3A command value; DAC or PWM
M1903->X:$07A213,0,24,S ; ENC3 captured position
M1904->Y:$07A213,8,16,S ; OUT3B command value; DAC or PWM
M1905->Y:$07A215,8,16,S ; ADC3A input value
M1906->Y:$07A216,8,16,S ; ADC3B input value
M1907->Y:$07A214,8,16,S ; OUT3C command value; PFM or PWM
M1908->Y:$07A217,0,24,S ; ENC3 compare A position
M1909->X:$07A217,0,24,S ; ENC3 compare B position
M1910->X:$07A216,0,24,S ; ENC3 compare autoincrement value
M1911->X:$07A215,11 ; ENC3 compare initial state write enable
M1912->X:$07A215,12 ; ENC3 compare initial state
M1914->X:$07A215,14 ; AENA3 output status
M1915->X:$07A210,19 ; USER3 flag input status
M1916->X:$07A210,9 ; ENC3 compare output value
M1917->X:$07A210,11 ; ENC3 capture flag
M1918->X:$07A210,8 ; ENC3 count error flag
M1919->X:$07A210,14 ; CHC3 input status
M1920->X:$07A210,16 ; HMFL3 flag input status
M1921->X:$07A210,17 ; PLIM3 flag input status
M1922->X:$07A210,18 ; MLIM3 flag input status
M1923->X:$07A210,15 ; FAULT3 flag input status
M1924->X:$07A210,20 ; Channel 3 W flag input status
M1925->X:$07A210,21 ; Channel 3 V flag input status
M1926->X:$07A210,22 ; Channel 3 U flag input status
M1927->X:$07A210,23 ; Channel 3 T flag input status
M1928->X:$07A210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #19 Status Bits
M1930->Y:$0009C0,11,1 ; #19 Stopped-on-position-limit bit
M1931->X:$0009B0,21,1 ; #19 Positive-end-limit-set bit
M1932->X:$0009B0,22,1 ; #19 Negative-end-limit-set bit
M1933->X:$0009B0,13,1 ; #19 Desired-velocity-zero bit