Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 581
Motor #18 Status Bits
M1830->Y:$000940,11,1 ; #18 Stopped-on-position-limit bit
M1831->X:$000930,21,1 ; #18 Positive-end-limit-set bit
M1832->X:$000930,22,1 ; #18 Negative-end-limit-set bit
M1833->X:$000930,13,1 ; #18 Desired-velocity-zero bit
M1835->X:$000930,15,1 ; #18 Dwell-in-progress bit
M1837->X:$000930,17,1 ; #18 Running-program bit
M1838->X:$000930,18,1 ; #18 Open-loop-mode bit
M1839->X:$000930,19,1 ; #18 Amplifier-enabled status bit
M1840->Y:$000940,0,1 ; #18 Background in-position bit
M1841->Y:$000940,1,1 ; #18 Warning-following error bit
M1842->Y:$000940,2,1 ; #18 Fatal-following-error bit
M1843->Y:$000940,3,1 ; #18 Amplifier-fault-error bit
M1844->Y:$000940,13,1 ; #18 Foreground in-position bit
M1845->Y:$000940,10,1 ; #18 Home-complete bit
M1846->Y:$000940,6,1 ; #18 Integrated following error fault bit
M1847->Y:$000940,5,1 ; #18 I2T fault bit
M1848->Y:$000940,8,1 ; #18 Phasing error fault bit
M1849->Y:$000940,9,1 ; #18 Phasing search-in-progress bit
Motor #18 Move Registers
M1861->D:$000908 ; #18 Commanded position (1/[Ixx08*32] cts)
M1862->D:$00090B ; #18 Actual position (1/[Ixx08*32] cts)
M1863->D:$000947 ; #18 Target (end) position (1/[Ixx08*32] cts)
M1864->D:$00094C ; #18 Position bias (1/[Ixx08*32] cts)
M1866->X:$00091D,0,24,S ; #18 Actual velocity (1/[Ixx09*32] cts/cyc)
M1867->D:$00090D ; #18 Present master pos (1/[Ixx07*32] cts)
M1868->X:$00093F,8,16,S ; #18 Filter Output (16-bit DAC bits)
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)
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 4 Registers for Second Acc-24 Channel 3 (usually for Motor #19)
M1901->X:$079209,0,24,S ; ENC3 24-bit counter position
M1902->Y:$07920B,8,16,S ; DAC3 16-bit analog output
M1903->X:$07920B,0,24,S ; ENC3 capture/compare position register
M1905->Y:$07920E,8,16,S ; ADC3 16-bit analog input
M1906->Y:$079208,0,24,U ; ENC3 time between counts (SCLK cycles)
M1910->X:$079208,10,1 ; ENC3 count-write enable control
M1911->X:$079208,11,1 ; EQU3 compare flag latch control