Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 715
Motor #23 Move Registers
M2361->D:$000B88 ; #23 Commanded position (1/[Ixx08*32] cts)
M2362->D:$000B8B ; #23 Actual position (1/[Ixx08*32] cts)
M2363->D:$000BC7 ; #23 Target (end) position (1/[Ixx08*32] cts)
M2364->D:$000BCC ; #23 Position bias (1/[Ixx08*32] cts)
M2366->X:$000B9D,0,24,S ; #23 Actual velocity (1/[Ixx09*32] cts/cyc)
M2367->D:$000B8D ; #23 Present master pos (1/[Ixx07*32] cts)
M2368->X:$000BBF,8,16,S ; #23 Filter Output (16-bit DAC bits)
M2369->D:$000B90 ; #23 Compensation correction (1/[Ixx08*32] cts)
M2370->D:$000BB4 ; #23 Present phase position (including fraction)
M2371->X:$000BB4,24,S ; #23 Present phase position (counts *Ixx70)
M2372->L:$000BD7 ; #23 Variable jog position/distance (cts)
M2373->Y:$000BCE,0,24,S ; #23 Encoder home capture position (cts)
M2374->D:$000BEF ; #23 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2375->X:$000BB9,8,16,S ; #23 Actual quadrature current
M2376->Y:$000BB9,8,16,S ; #23 Actual direct current
M2377->X:$000BBC,8,16,S ; #23 Quadrature current-loop integrator output
M2378->Y:$000BBC,8,16,S ; #23 Direct current-loop integrator output
M2379->X:$000BAE,8,16,S ; #23 PID internal filter result (16-bit DAC bits)
M2388->Y:$07A311,0,12,U ; IC 7 Ch 3 Compare A fractional count
M2389->Y:$07A310,0,12,U ; IC 7 Ch 3 Compare B fractional count
Motor #23 Axis Definition Registers
M2391->L:$000BCF ; #23 X/U/A/B/C-Axis scale factor (cts/unit)
M2392->L:$000BD0 ; #23 Y/V-Axis scale factor (cts/unit)
M2393->L:$000BD1 ; #23 Z/W-Axis scale factor (cts/unit)
M2394->L:$000BD2 ; #23 Axis offset (cts)
Servo IC 7 Channel 4 Registers (usually for Motor #24)
M2401->X:$07A319,0,24,S ; ENC8 24-bit counter position
M2402->Y:$07A31A,8,16,S ; OUT8A command value; DAC or PWM
M2403->X:$07A31B,0,24,S ; ENC8 captured position
M2404->Y:$07A31B,8,16,S ; OUT8B command value; DAC or PWM
M2405->Y:$07A31D,8,16,S ; ADC8A input value
M2406->Y:$07A31E,8,16,S ; ADC8B input value
M2407->Y:$07A31C,8,16,S ; OUT8C command value; PFM or PWM
M2408->Y:$07A31F,0,24,S ; ENC8 compare A position
M2409->X:$07A31F,0,24,S ; ENC8 compare B position
M2410->X:$07A31E,0,24,S ; ENC8 compare autoincrement value
M2411->X:$07A31D,11 ; ENC8 compare initial state write enable
M2412->X:$07A31D,12 ; ENC8 compare initial state
M2414->X:$07A31D,14 ; AENA8 output status
M2415->X:$07A318,19 ; USER8 flag input status
M2416->X:$07A318,9 ; ENC8 compare output value
M2417->X:$07A318,11 ; ENC8 capture flag
M2418->X:$07A318,8 ; ENC8 count error flag
M2419->X:$07A318,14 ; CHC8 input status
M2420->X:$07A318,16 ; HMFL8 flag input status
M2421->X:$07A318,17 ; PLIM8 flag input status
M2422->X:$07A318,18 ; MLIM8 flag input status
M2423->X:$07A318,15 ; FAULT8 flag input status
M2424->X:$07A318,20 ; Channel 8 W flag input status
M2425->X:$07A318,21 ; Channel 8 V flag input status
M2426->X:$07A318,22 ; Channel 8 U flag input status