Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 591
M2639->X:$000D30,19,1 ; #26 Amplifier-enabled status bit
M2640->Y:$000D40,0,1 ; #26 Background in-position bit
M2641->Y:$000D40,1,1 ; #26 Warning-following error bit
M2642->Y:$000D40,2,1 ; #26 Fatal-following-error bit
M2643->Y:$000D40,3,1 ; #26 Amplifier-fault-error bit
M2644->Y:$000D40,13,1 ; #26 Foreground in-position bit
M2645->Y:$000D40,10,1 ; #26 Home-complete bit
M2646->Y:$000D40,6,1 ; #26 Integrated following error fault bit
M2647->Y:$000D40,5,1 ; #26 I2T fault bit
M2648->Y:$000D40,8,1 ; #26 Phasing error fault bit
M2649->Y:$000D40,9,1 ; #26 Phasing search-in-progress bit
Motor #26 Move Registers
M2661->D:$000D08 ; #26 Commanded position (1/[Ixx08*32] cts)
M2662->D:$000D0B ; #26 Actual position (1/[Ixx08*32] cts)
M2663->D:$000D47 ; #26 Target (end) position (1/[Ixx08*32] cts)
M2664->D:$000D4C ; #26 Position bias (1/[Ixx08*32] cts)
M2666->X:$000D1D,0,24,S ; #26 Actual velocity (1/[Ixx09*32] cts/cyc)
M2667->D:$000D0D ; #26 Present master pos (1/[Ixx07*32] cts)
M2668->X:$000D3F,8,16,S ; #26 Filter Output (16-bit DAC bits)
M2669->D:$000D10 ; #26 Compensation correction (1/[Ixx08*32] cts)
M2670->D:$000D34 ; #26 Present phase position (including fraction)
M2671->X:$000D34,24,S ; #26 Present phase position (counts *Ixx70)
M2672->L:$000D57 ; #26 Variable jog position/distance (cts)
M2673->Y:$000D4E,0,24,S ; #26 Encoder home capture position (cts)
M2674->D:$000D6F ; #26 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2675->X:$000D39,8,16,S ; #26 Actual quadrature current
M2676->Y:$000D39,8,16,S ; #26 Actual direct current
M2677->X:$000D3C,8,16,S ; #26 Quadrature current-loop integrator output
M2678->Y:$000D3C,8,16,S ; #26 Direct current-loop integrator output
M2679->X:$000D2E,8,16,S ; #26 PID internal filter result (16-bit DAC bits)
Motor #26 Axis Definition Registers
M2691->L:$000D4F ; #26 X/U/A/B/C-Axis scale factor (cts/unit)
M2692->L:$000D50 ; #26 Y/V-Axis scale factor (cts/unit)
M2693->L:$000D51 ; #26 Z/W-Axis scale factor (cts/unit)
M2694->L:$000D52 ; #26 Axis offset (cts)
Servo IC 6 Registers for Third Acc-24 Channel 3 (usually for Motor #27)
M2701->X:$07A209,0,24,S ; ENC3 24-bit counter position
M2702->Y:$07A20B,8,16,S ; DAC3 16-bit analog output
M2703->X:$07A20B,0,24,S ; ENC3 capture/compare position register
M2705->Y:$07A20E,8,16,S ; ADC3 16-bit analog input
M2706->Y:$07A208,0,24,U ; ENC3 time between counts (SCLK cycles)
M2710->X:$07A208,10,1 ; ENC3 count-write enable control
M2711->X:$07A208,11,1 ; EQU3 compare flag latch control
M2712->X:$07A208,12,1 ; EQU3 compare output enable
M2713->X:$07A208,13,1 ; EQU3 compare invert enable
M2714->X:$07A208,14,1 ; AENA3/DIR3 Output
M2716->X:$07A208,16,1 ; EQU3 compare flag
M2717->X:$07A208,17,1 ; ENC3 position-captured flag
M2718->X:$07A208,18,1 ; ENC3 Count-error flag
M2719->X:$07A208,19,1 ; ENC3 3rd channel input status
M2720->X:$07A208,20,1 ; HMFL3 input status