Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 567
Motor #6 Axis Definition Registers
M691->L:$00034F ; #6 X/U/A/B/C-Axis scale factor (cts/unit)
M692->L:$000350 ; #6 Y/V-Axis scale factor (cts/unit)
M693->L:$000351 ; #6 Z/W-Axis scale factor (cts/unit)
M694->L:$000352 ; #6 Axis offset (cts)
Servo IC 1 Registers for PMAC Channel 3 (usually for Motor #3)
M701->X:$078109,0,24,S ; ENC7 24-bit counter position
M702->Y:$07810B,8,16,S ; DAC7 16-bit analog output
M703->X:$07810B,0,24,S ; ENC7 capture/compare position register
M705->Y:$07810E,8,16,S ; ADC7 16-bit analog input
M706->Y:$078108,0,24,U ; ENC7 time between counts (SCLK cycles)
M710->X:$078108,10,1 ; ENC7 count-write enable control
M711->X:$078108,11,1 ; EQU7 compare flag latch control
M712->X:$078108,12,1 ; EQU7 compare output enable
M713->X:$078108,13,1 ; EQU7 compare invert enable
M714->X:$078108,14,1 ; AENA7/DIR7 Output
M716->X:$078108,16,1 ; EQU7 compare flag
M717->X:$078108,17,1 ; ENC7 position-captured flag
M718->X:$078108,18,1 ; ENC7 Count-error flag
M719->X:$078108,19,1 ; ENC7 3rd channel input status
M720->X:$078108,20,1 ; HMFL7 input status
M721->X:$078108,21,1 ; -LIM7 (positive end) input status
M722->X:$078108,22,1 ; +LIM7 (negative end) input status
M723->X:$078108,23,1 ; FAULT7 input status
Motor #7 Status Bits
M730->Y:$0003C0,11,1 ; #7 Stopped-on-position-limit bit
M731->X:$0003B0,21,1 ; #7 Positive-end-limit-set bit
M732->X:$0003B0,22,1 ; #7 Negative-end-limit-set bit
M733->X:$0003B0,13,1 ; #7 Desired-velocity-zero bit
M735->X:$0003B0,15,1 ; #7 Dwell-in-progress bit
M737->X:$0003B0,17,1 ; #7 Running-program bit
M738->X:$0003B0,18,1 ; #7 Open-loop-mode bit
M739->X:$0003B0,19,1 ; #7 Amplifier-enabled status bit
M740->Y:$0003C0,0,1 ; #7 Background in-position bit
M741->Y:$0003C0,1,1 ; #7 Warning-following error bit
M742->Y:$0003C0,2,1 ; #7 Fatal-following-error bit
M743->Y:$0003C0,3,1 ; #7 Amplifier-fault-error bit
M744->Y:$0003C0,13,1 ; #7 Foreground in-position bit
M745->Y:$0003C0,10,1 ; #7 Home-complete bit
M746->Y:$0003C0,6,1 ; #7 Integrated following error fault bit
M747->Y:$0003C0,5,1 ; #7 I2T fault bit
M748->Y:$0003C0,8,1 ; #7 Phasing error fault bit
M749->Y:$0003C0,9,1 ; #7 Phasing search-in-progress bit
Motor #7 Move Registers
M761->D:$000388 ; #7 Commanded position (1/[Ixx08*32] cts)
M762->D:$00038B ; #7 Actual position (1/[Ixx08*32] cts)
M763->D:$0003C7 ; #7 Target (end) position (1/[Ixx08*32] cts)
M764->D:$0003CC ; #7 Position bias (1/[Ixx08*32] cts)
M766->X:$00039D,0,24,S ; #7 Actual velocity (1/[Ixx09*32] cts/cyc)
M767->D:$00038D ; #7 Present master pos (1/[Ixx07*32] cts)
M768->X:$0003BF,8,16,S ; #7 Filter Output (16-bit DAC bits)