Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 697
Motor #12 Move Registers
M1261->D:$000608 ; #12 Commanded position (1/[Ixx08*32] cts)
M1262->D:$00060B ; #12 Actual position (1/[Ixx08*32] cts)
M1263->D:$000647 ; #12 Target (end) position (1/[Ixx08*32] cts)
M1264->D:$00064C ; #12 Position bias (1/[Ixx08*32] cts)
M1266->X:$00061D,0,24,S ; #12 Actual velocity (1/[Ixx09*32] cts/cyc)
M1267->D:$00060D ; #12 Present master pos (1/[Ixx07*32] cts)
M1268->X:$00063F,8,16,S ; #12 Filter Output (16-bit DAC bits)
M1269->D:$000610 ; #12 Compensation correction (1/[Ixx08*32] cts)
M1270->D:$000634 ; #12 Present phase position (including fraction)
M1271->X:$000634,24,S ; #12 Present phase position (counts *Ixx70)
M1272->L:$000657 ; #12 Variable jog position/distance (cts)
M1273->Y:$00064E,0,24,S ; #12 Encoder home capture position (cts)
M1274->D:$00066F ; #12 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1275->X:$000639,8,16,S ; #12 Actual quadrature current
M1276->Y:$000639,8,16,S ; #12 Actual direct current
M1277->X:$00063C,8,16,S ; #12 Quadrature current-loop integrator output
M1278->Y:$00063C,8,16,S ; #12 Direct current-loop integrator output
M1279->X:$00062E,8,16,S ; #12 PID internal filter result (16-bit DAC bits)
M1288->Y:$079219,0,12,U ; IC 4 Ch 4 Compare A fractional count
M1289->Y:$079218,0,12,U ; IC 4 Ch 4 Compare B fractional count
Motor #12 Axis Definition Registers
M1291->L:$00064F ; #12 X/U/A/B/C-Axis scale factor (cts/unit)
M1292->L:$000650 ; #12 Y/V-Axis scale factor (cts/unit)
M1293->L:$000651 ; #12 Z/W-Axis scale factor (cts/unit)
M1294->L:$000652 ; #12 Axis offset (cts)
Servo IC 5 Channel 1 Registers (usually for Motor #13)
M1301->X:$079301,0,24,S ; ENC5 24-bit counter position
M1302->Y:$079302,8,16,S ; OUT5A command value; DAC or PWM
M1303->X:$079303,0,24,S ; ENC5 captured position
M1304->Y:$079303,8,16,S ; OUT5B command value; DAC or PWM
M1305->Y:$079305,8,16,S ; ADC5A input value
M1306->Y:$079306,8,16,S ; ADC5B input value
M1307->Y:$079304,8,16,S ; OUT5C command value; PFM or PWM
M1308->Y:$079307,0,24,S ; ENC5 compare A position
M1309->X:$079307,0,24,S ; ENC5 compare B position
M1310->X:$079306,0,24,S ; ENC5 compare autoincrement value
M1311->X:$079305,11 ; ENC5 compare initial state write enable
M1312->X:$079305,12 ; ENC5 compare initial state
M1314->X:$079305,14 ; AENA5 output status
M1315->X:$079300,19 ; USER5 flag input status
M1316->X:$079300,9 ; ENC5 compare output value
M1317->X:$079300,11 ; ENC5 capture flag
M1318->X:$079300,8 ; ENC5 count error flag
M1319->X:$079300,14 ; CHC5 input status
M1320->X:$079300,16 ; HMFL5 flag input status
M1321->X:$079300,17 ; PLIM5 flag input status
M1322->X:$079300,18 ; MLIM5 flag input status
M1323->X:$079300,15 ; FAULT5 flag input status
M1324->X:$079300,20 ; Channel 5 W flag input status
M1325->X:$079300,21 ; Channel 5 V flag input status