Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 659
Motor #29 Move Registers
M2961->D:$000E88 ; #29 Commanded position (1/[Ixx08*32] cts)
M2962->D:$000E8B ; #29 Actual position (1/[Ixx08*32] cts)
M2963->D:$000EC7 ; #29 Target (end) position (1/[Ixx08*32] cts)
M2964->D:$000ECC ; #29 Position bias (1/[Ixx08*32] cts)
M2966->X:$000E9D,0,24,S ; #29 Actual velocity (1/[Ixx09*32] cts/cyc)
M2967->D:$000E8D ; #29 Present master pos (1/[Ixx07*32] cts)
M2968->X:$000EBF,8,16,S ; #29 Filter Output (16-bit DAC bits)
M2969->D:$000E90 ; #29 Compensation correction (1/[Ixx08*32] cts)
M2970->D:$000EB4 ; #29 Present phase position (including fraction)
M2971->X:$000EB4,24,S ; #29 Present phase position (counts *Ixx70)
M2972->L:$000ED7 ; #29 Variable jog position/distance (cts)
M2973->Y:$000ECE,0,24,S ; #29 Encoder home capture position (cts)
M2974->D:$000EEF ; #29 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2975->X:$000EB9,8,16,S ; #29 Actual quadrature current
M2976->Y:$000EB9,8,16,S ; #29 Actual direct current
M2977->X:$000EBC,8,16,S ; #29 Quadrature current-loop integrator output
M2978->Y:$000EBC,8,16,S ; #29 Direct current-loop integrator output
M2979->X:$000EAE,8,16,S ; #29 PID internal filter result (16-bit DAC bits)
M2988->Y:$07A301,0,12,U ; IC 7 Ch 1 Compare A fractional count
M2989->Y:$07A300,0,12,U ; IC 7 Ch 1 Compare A fractional count
Motor #29 Axis Definition Registers
M2991->L:$000ECF ; #29 X/U/A/B/C-Axis scale factor (cts/unit)
M2992->L:$000ED0 ; #29 Y/V-Axis scale factor (cts/unit)
M2993->L:$000ED1 ; #29 Z/W-Axis scale factor (cts/unit)
M2994->L:$000ED2 ; #29 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 6 (usually for Motor #30)
M3001->X:$07A309,0,24,S ; ENC6 24-bit counter position
M3002->Y:$07A30A,8,16,S ; OUT6A command value; DAC or PWM
M3003->X:$07A30B,0,24,S ; ENC6 captured position
M3004->Y:$07A30B,8,16,S ; OUT6B command value; DAC or PWM
M3005->Y:$07A30D,8,16,S ; ADC6A input value
M3006->Y:$07A30E,8,16,S ; ADC6B input value
M3007->Y:$07A30C,8,16,S ; OUT6C command value; PFM or PWM
M3008->Y:$07A30F,0,24,S ; ENC6 compare A position
M3009->X:$07A30F,0,24,S ; ENC6 compare B position
M3010->X:$07A30E,0,24,S ; ENC6 compare autoincrement value
M3011->X:$07A30D,11 ; ENC6 compare initial state write enable
M3012->X:$07A30D,12 ; ENC6 compare initial state
M3014->X:$07A30D,14 ; AENA6 output status
M3015->X:$07A308,19 ; USER6 flag input status
M3016->X:$07A308,9 ; ENC6 compare output value
M3017->X:$07A308,11 ; ENC6 capture flag
M3018->X:$07A308,8 ; ENC6 count error flag
M3019->X:$07A308,14 ; CHC6 input status
M3020->X:$07A308,16 ; HMFL6 flag input status
M3021->X:$07A308,17 ; PLIM6 flag input status
M3022->X:$07A308,18 ; MLIM6 flag input status
M3023->X:$07A308,15 ; FAULT6 flag input status
M3024->X:$07A308,20 ; Channel 6 W flag input status
M3025->X:$07A308,21 ; Channel 6 V flag input status