Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 633
M1369->D:$000690 ; #13 Compensation correction (1/[Ixx08*32] cts)
M1370->D:$0006B4 ; #13 Present phase position (including fraction)
M1371->X:$0006B4,24,S ; #13 Present phase position (counts *Ixx70)
M1372->L:$0006D7 ; #13 Variable jog position/distance (cts)
M1373->Y:$0006CE,0,24,S ; #13 Encoder home capture position (cts)
M1374->D:$0006EF ; #13 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1375->X:$0006B9,8,16,S ; #13 Actual quadrature current
M1376->Y:$0006B9,8,16,S ; #13 Actual direct current
M1377->X:$0006BC,8,16,S ; #13 Quadrature current-loop integrator output
M1378->Y:$0006BC,8,16,S ; #13 Direct current-loop integrator output
M1379->X:$0006AE,8,16,S ; #13 PID internal filter result (16-bit DAC bits)
M1388->Y:$078301,0,12,U ; IC 3 Ch 1 Compare A fractional count
M1389->Y:$078300,0,12,U ; IC 3 Ch 1 Compare A fractional count
Motor #13 Axis Definition Registers
M1391->L:$0006CF ; #13 X/U/A/B/C-Axis scale factor (cts/unit)
M1392->L:$0006D0 ; #13 Y/V-Axis scale factor (cts/unit)
M1393->L:$0006D1 ; #13 Z/W-Axis scale factor (cts/unit)
M1394->L:$0006D2 ; #13 Axis offset (cts)
Servo IC 3 Registers for First Acc-24 Channel 6 (usually for Motor #14)
M1401->X:$078309,0,24,S ; ENC6 24-bit counter position
M1402->Y:$07830A,8,16,S ; OUT6A command value; DAC or PWM
M1403->X:$07830B,0,24,S ; ENC6 captured position
M1404->Y:$07830B,8,16,S ; OUT6B command value; DAC or PWM
M1405->Y:$07830D,8,16,S ; ADC6A input value
M1406->Y:$07830E,8,16,S ; ADC6B input value
M1407->Y:$07830C,8,16,S ; OUT6C command value; PFM or PWM
M1408->Y:$07830F,0,24,S ; ENC6 compare A position
M1409->X:$07830F,0,24,S ; ENC6 compare B position
M1410->X:$07830E,0,24,S ; ENC6 compare autoincrement value
M1411->X:$07830D,11 ; ENC6 compare initial state write enable
M1412->X:$07830D,12 ; ENC6 compare initial state
M1414->X:$07830D,14 ; AENA6 output status
M1415->X:$078308,19 ; USER6 flag input status
M1416->X:$078308,9 ; ENC6 compare output value
M1417->X:$078308,11 ; ENC6 capture flag
M1418->X:$078308,8 ; ENC6 count error flag
M1419->X:$078308,14 ; CHC6 input status
M1420->X:$078308,16 ; HMFL6 flag input status
M1421->X:$078308,17 ; PLIM6 flag input status
M1422->X:$078308,18 ; MLIM6 flag input status
M1423->X:$078308,15 ; FAULT6 flag input status
M1424->X:$078308,20 ; Channel 6 W flag input status
M1425->X:$078308,21 ; Channel 6 V flag input status
M1426->X:$078308,22 ; Channel 6 U flag input status
M1427->X:$078308,23 ; Channel 6 T flag input status
M1428->X:$078308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #14 Status Bits
M1430->Y:$000740,11,1 ; #14 Stopped-on-position-limit bit
M1431->X:$000730,21,1 ; #14 Positive-end-limit-set bit
M1432->X:$000730,22,1 ; #14 Negative-end-limit-set bit
M1433->X:$000730,13,1 ; #14 Desired-velocity-zero bit