Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 566
M612->X:$078104,12,1 ; EQU6 compare output enable
M613->X:$078104,13,1 ; EQU6 compare invert enable
M614->X:$078104,14,1 ; AENA6/DIR6 Output
M616->X:$078104,16,1 ; EQU6 compare flag
M617->X:$078104,17,1 ; ENC6 position-captured flag
M618->X:$078104,18,1 ; ENC6 Count-error flag
M619->X:$078104,19,1 ; ENC6 3rd channel input status
M620->X:$078104,20,1 ; HMFL6 input status
M621->X:$078104,21,1 ; -LIM6 (positive end) input status
M622->X:$078104,22,1 ; +LIM6 (negative end) input status
M623->X:$078104,23,1 ; FAULT6 input status
Motor #6 Status Bits
M630->Y:$000340,11,1 ; #6 Stopped-on-position-limit bit
M631->X:$000330,21,1 ; #6 Positive-end-limit-set bit
M632->X:$000330,22,1 ; #6 Negative-end-limit-set bit
M633->X:$000330,13,1 ; #6 Desired-velocity-zero bit
M635->X:$000330,15,1 ; #6 Dwell-in-progress bit
M637->X:$000330,17,1 ; #6 Running-program bit
M638->X:$000330,18,1 ; #6 Open-loop-mode bit
M639->X:$000330,19,1 ; #6 Amplifier-enabled status bit
M640->Y:$000340,0,1 ; #6 Background in-position bit
M641->Y:$000340,1,1 ; #6 Warning-following error bit
M642->Y:$000340,2,1 ; #6 Fatal-following-error bit
M643->Y:$000340,3,1 ; #6 Amplifier-fault-error bit
M644->Y:$000340,13,1 ; #6 Foreground in-position bit
M645->Y:$000340,10,1 ; #6 Home-complete bit
M646->Y:$000340,6,1 ; #6 Integrated following error fault bit
M647->Y:$000340,5,1 ; #6 I2T fault bit
M648->Y:$000340,8,1 ; #6 Phasing error fault bit
M649->Y:$000340,9,1 ; #6 Phasing search-in-progress bit
Motor #6 Move Registers
M661->D:$000308 ; #6 Commanded position (1/[Ixx08*32] cts)
M662->D:$00030B ; #6 Actual position (1/[Ixx08*32] cts)
M663->D:$000347 ; #6 Target (end) position (1/[Ixx08*32] cts)
M664->D:$00034C ; #6 Position bias (1/[Ixx08*32] cts)
M666->X:$00031D,0,24,S ; #6 Actual velocity (1/[Ixx09*32] cts/cyc)
M667->D:$00030D ; #6 Present master pos (1/[Ixx07*32] cts)
M668->X:$00033F,8,16,S ; #6 Filter Output (16-bit DAC bits)
M669->D:$000310 ; #6 Compensation correction (1/[Ixx08*32] cts)
M670->D:$000334 ; #6 Present phase position (including fraction)
M671->X:$000334,24,S ; #6 Present phase position (counts *Ixx70)
M672->L:$000357 ; #6 Variable jog position/distance (cts)
M673->Y:$00034E,0,24,S ; #6 Encoder home capture position (cts)
M674->D:$00036F ; #6 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M675->X:$000339,8,16,S ; #6 Actual quadrature current
M676->Y:$000339,8,16,S ; #6 Actual direct current
M677->X:$00033C,8,16,S ; #6 Quadrature current-loop integrator output
M678->Y:$00033C,8,16,S ; #6 Direct current-loop integrator output
M679->X:$00032E,8,16,S ; #6 PID internal filter result (16-bit DAC bits)