Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 562
M279->X:$00012E,8,16,S ; #2 PID internal filter result (16-bit DAC bits)
Motor #2 Axis Definition Registers
M291->L:$00014F ; #2 X/U/A/B/C-Axis scale factor (cts/unit)
M292->L:$000150 ; #2 Y/V-Axis scale factor (cts/unit)
M293->L:$000151 ; #2 Z/W-Axis scale factor (cts/unit)
M294->L:$000152 ; #2 Axis offset (cts)
Servo IC 0 Registers for PMAC Channel 3 (usually for Motor #3)
M301->X:$078009,0,24,S ; ENC3 24-bit counter position
M302->Y:$07800B,8,16,S ; DAC3 16-bit analog output
M303->X:$07800B,0,24,S ; ENC3 capture/compare position register
M305->Y:$07800E,8,16,S ; ADC3 16-bit analog input
M306->Y:$078008,0,24,U ; ENC3 time between counts (SCLK cycles)
M310->X:$078008,10,1 ; ENC3 count-write enable control
M311->X:$078008,11,1 ; EQU3 compare flag latch control
M312->X:$078008,12,1 ; EQU3 compare output enable
M313->X:$078008,13,1 ; EQU3 compare invert enable
M314->X:$078008,14,1 ; AENA3/DIR3 Output
M316->X:$078008,16,1 ; EQU3 compare flag
M317->X:$078008,17,1 ; ENC3 position-captured flag
M318->X:$078008,18,1 ; ENC3 Count-error flag
M319->X:$078008,19,1 ; ENC3 3rd channel input status
M320->X:$078008,20,1 ; HMFL3 input status
M321->X:$078008,21,1 ; -LIM3 (positive end) input status
M322->X:$078008,22,1 ; +LIM3 (negative end) input status
M323->X:$078008,23,1 ; FAULT3 input status
Motor #3 Status Bits
M330->Y:$0001C0,11,1 ; #3 Stopped-on-position-limit bit
M331->X:$0001B0,21,1 ; #3 Positive-end-limit-set bit
M332->X:$0001B0,22,1 ; #3 Negative-end-limit-set bit
M333->X:$0001B0,13,1 ; #3 Desired-velocity-zero bit
M335->X:$0001B0,15,1 ; #3 Dwell-in-progress bit
M337->X:$0001B0,17,1 ; #3 Running-program bit
M338->X:$0001B0,18,1 ; #3 Open-loop-mode bit
M339->X:$0001B0,19,1 ; #3 Amplifier-enabled status bit
M340->Y:$0001C0,0,1 ; #3 Background in-position bit
M341->Y:$0001C0,1,1 ; #3 Warning-following error bit
M342->Y:$0001C0,2,1 ; #3 Fatal-following-error bit
M343->Y:$0001C0,3,1 ; #3 Amplifier-fault-error bit
M344->Y:$0001C0,13,1 ; #3 Foreground in-position bit
M345->Y:$0001C0,10,1 ; #3 Home-complete bit
M346->Y:$0001C0,6,1 ; #3 Integrated following error fault bit
M347->Y:$0001C0,5,1 ; #3 I2T fault bit
M348->Y:$0001C0,8,1 ; #3 Phasing error fault bit
M349->Y:$0001C0,9,1 ; #3 Phasing search-in-progress bit
Motor #3 Move Registers
M361->D:$000188 ; #3 Commanded position (1/[Ixx08*32] cts)
M362->D:$00018B ; #3 Actual position (1/[Ixx08*32] cts)
M363->D:$0001C7 ; #3 Target (end) position (1/[Ixx08*32] cts)
M364->D:$0001CC ; #3 Position bias (1/[Ixx08*32] cts)
M366->X:$00019D,0,24,S ; #3 Actual velocity (1/[Ixx09*32] cts/cyc)
M367->D:$00018D ; #3 Present master pos (1/[Ixx07*32] cts)