Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 563
M368->X:$0001BF,8,16,S ; #3 Filter Output (16-bit DAC bits)
M369->D:$000190 ; #3 Compensation correction (1/[Ixx08*32] cts)
M370->D:$0001B4 ; #3 Present phase position (including fraction)
M371->X:$0001B4,24,S ; #3 Present phase position (counts *Ixx70)
M372->L:$0001D7 ; #3 Variable jog position/distance (cts)
M373->Y:$0001CE,0,24,S ; #3 Encoder home capture position (cts)
M374->D:$0001EF ; #3 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M375->X:$0001B9,8,16,S ; #3 Actual quadrature current
M376->Y:$0001B9,8,16,S ; #3 Actual direct current
M377->X:$0001BC,8,16,S ; #3 Quadrature current-loop integrator output
M378->Y:$0001BC,8,16,S ; #3 Direct current-loop integrator output
M379->X:$0001AE,8,16,S ; #3 PID internal filter result (16-bit DAC bits)
Motor #3 Axis Definition Registers
M391->L:$0001CF ; #3 X/U/A/B/C-Axis scale factor (cts/unit)
M392->L:$0001D0 ; #3 Y/V-Axis scale factor (cts/unit)
M393->L:$0001D1 ; #3 Z/W-Axis scale factor (cts/unit)
M394->L:$0001D2 ; #3 Axis offset (cts)
Servo IC 0 Registers for PMAC Channel 4 (usually for Motor #4)
M401->X:$07800D,0,24,S ; ENC4 24-bit counter position
M402->Y:$07800A,8,16,S ; DAC4 16-bit analog output
M403->X:$07800F,0,24,S ; ENC4 capture/compare position register
M405->Y:$07800F,8,16,S ; ADC4 16-bit analog input
M406->Y:$07800C,0,24,U ; ENC4 time between counts (SCLK cycles)
M410->X:$07800C,10,1 ; ENC4 count-write enable control
M411->X:$07800C,11,1 ; EQU4 compare flag latch control
M412->X:$07800C,12,1 ; EQU4 compare output enable
M413->X:$07800C,13,1 ; EQU4 compare invert enable
M414->X:$07800C,14,1 ; AENA4/DIR4 Output
M416->X:$07800C,16,1 ; EQU4 compare flag
M417->X:$07800C,17,1 ; ENC4 position-captured flag
M418->X:$07800C,18,1 ; ENC4 Count-error flag
M419->X:$07800C,19,1 ; ENC4 3rd channel input status
M420->X:$07800C,20,1 ; HMFL4 input status
M421->X:$07800C,21,1 ; -LIM4 (positive end) input status
M422->X:$07800C,22,1 ; +LIM4 (negative end) input status
M423->X:$07800C,23,1 ; FAULT4 input status
Motor #4 Status Bits
M430->Y:$000240,11,1 ; #4 Stopped-on-position-limit bit
M431->X:$000230,21,1 ; #4 Positive-end-limit-set bit
M432->X:$000230,22,1 ; #4 Negative-end-limit-set bit
M433->X:$000230,13,1 ; #4 Desired-velocity-zero bit
M435->X:$000230,15,1 ; #4 Dwell-in-progress bit
M437->X:$000230,17,1 ; #4 Running-program bit
M438->X:$000230,18,1 ; #4 Open-loop-mode bit
M439->X:$000230,19,1 ; #4 Amplifier-enabled status bit
M440->Y:$000240,0,1 ; #4 Background in-position bit
M441->Y:$000240,1,1 ; #4 Warning-following error bit
M442->Y:$000240,2,1 ; #4 Fatal-following-error bit
M443->Y:$000240,3,1 ; #4 Amplifier-fault-error bit
M444->Y:$000240,13,1 ; #4 Foreground in-position bit
M445->Y:$000240,10,1 ; #4 Home-complete bit