Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 590
Motor #25 Move Registers
M2561->D:$000C88 ; #25 Commanded position (1/[Ixx08*32] cts)
M2562->D:$000C8B ; #25 Actual position (1/[Ixx08*32] cts)
M2563->D:$000CC7 ; #25 Target (end) position (1/[Ixx08*32] cts)
M2564->D:$000CCC ; #25 Position bias (1/[Ixx08*32] cts)
M2566->X:$000C9D,0,24,S ; #25 Actual velocity (1/[Ixx09*32] cts/cyc)
M2567->D:$000C8D ; #25 Present master pos (1/[Ixx07*32] cts)
M2568->X:$000CBF,8,16,S ; #25 Filter Output (16-bit DAC bits)
M2569->D:$000C90 ; #25 Compensation correction (1/[Ixx08*32] cts)
M2570->D:$000CB4 ; #25 Present phase position (including fraction)
M2571->X:$000CB4,24,S ; #25 Present phase position (counts *Ixx70)
M2572->L:$000CD7 ; #25 Variable jog position/distance (cts)
M2573->Y:$000CCE,0,24,S ; #25 Encoder home capture position (cts)
M2574->D:$000CEF ; #25 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2575->X:$000CB9,8,16,S ; #25 Actual quadrature current
M2576->Y:$000CB9,8,16,S ; #25 Actual direct current
M2577->X:$000CBC,8,16,S ; #25 Quadrature current-loop integrator output
M2578->Y:$000CBC,8,16,S ; #25 Direct current-loop integrator output
M2579->X:$000CAE,8,16,S ; #25 PID internal filter result (16-bit DAC bits)
Motor #25 Axis Definition Registers
M2591->L:$000CCF ; #25 X/U/A/B/C-Axis scale factor (cts/unit)
M2592->L:$000CD0 ; #25 Y/V-Axis scale factor (cts/unit)
M2593->L:$000CD1 ; #25 Z/W-Axis scale factor (cts/unit)
M2594->L:$000CD2 ; #25 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 2 (usually for Motor #26)
M2601->X:$07A205,0,24,S ; ENC2 24-bit counter position
M2602->Y:$07A202,8,16,S ; DAC2 16-bit analog output
M2603->X:$07A207,0,24,S ; ENC2 capture/compare position register
M2605->Y:$07A207,8,16,S ; ADC2 16-bit analog input
M2606->Y:$07A204,0,24,U ; ENC2 time between counts (SCLK cycles)
M2610->X:$07A204,10,1 ; ENC2 count-write enable control
M2611->X:$07A204,11,1 ; EQU2 compare flag latch control
M2612->X:$07A204,12,1 ; EQU2 compare output enable
M2613->X:$07A204,13,1 ; EQU2 compare invert enable
M2614->X:$07A204,14,1 ; AENA2/DIR2 Output
M2616->X:$07A204,16,1 ; EQU2 compare flag
M2617->X:$07A204,17,1 ; ENC2 position-captured flag
M2618->X:$07A204,18,1 ; ENC2 Count-error flag
M2619->X:$07A204,19,1 ; ENC2 3rd channel input status
M2620->X:$07A204,20,1 ; HMFL2 input status
M2621->X:$07A204,21,1 ; -LIM2 (positive end) input status
M2622->X:$07A204,22,1 ; +LIM2 (negative end) input status
M2623->X:$07A204,23,1 ; FAULT2 input status
Motor #26 Status Bits
M2630->Y:$000D40,11,1 ; #26 Stopped-on-position-limit bit
M2631->X:$000D30,21,1 ; #26 Positive-end-limit-set bit
M2632->X:$000D30,22,1 ; #26 Negative-end-limit-set bit
M2633->X:$000D30,13,1 ; #26 Desired-velocity-zero bit
M2635->X:$000D30,15,1 ; #26 Dwell-in-progress bit
M2637->X:$000D30,17,1 ; #26 Running-program bit
M2638->X:$000D30,18,1 ; #26 Open-loop-mode bit