Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 568
M769->D:$000390 ; #7 Compensation correction (1/[Ixx08*32] cts)
M770->D:$0003B4 ; #7 Present phase position (including fraction)
M771->X:$0003B4,24,S ; #7 Present phase position (counts *Ixx70)
M772->L:$0003D7 ; #7 Variable jog position/distance (cts)
M773->Y:$0003CE,0,24,S ; #7 Encoder home capture position (cts)
M774->D:$0003EF ; #7 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M775->X:$0003B9,8,16,S ; #7 Actual quadrature current
M776->Y:$0003B9,8,16,S ; #7 Actual direct current
M777->X:$0003BC,8,16,S ; #7 Quadrature current-loop integrator output
M778->Y:$0003BC,8,16,S ; #7 Direct current-loop integrator output
M779->X:$0003AE,8,16,S ; #7 PID internal filter result (16-bit DAC bits)
Motor #7 Axis Definition Registers
M791->L:$0003CF ; #7 X/U/A/B/C-Axis scale factor (cts/unit)
M792->L:$0003D0 ; #7 Y/V-Axis scale factor (cts/unit)
M793->L:$0003D1 ; #7 Z/W-Axis scale factor (cts/unit)
M794->L:$0003D2 ; #7 Axis offset (cts)
Servo IC 1 Registers for PMAC Channel 8 (usually for Motor #8)
M801->X:$07810D,0,24,S ; ENC8 24-bit counter position
M802->Y:$07810A,8,16,S ; DAC8 16-bit analog output
M803->X:$07810F,0,24,S ; ENC8 capture/compare position register
M805->Y:$07810F,8,16,S ; ADC8 16-bit analog input
M806->Y:$07810C,0,24,U ; ENC8 time between counts (SCLK cycles)
M810->X:$07810C,10,1 ; ENC8 count-write enable control
M811->X:$07810C,11,1 ; EQU8 compare flag latch control
M812->X:$07810C,12,1 ; EQU8 compare output enable
M813->X:$07810C,13,1 ; EQU8 compare invert enable
M814->X:$07810C,14,1 ; AENA8/DIR8 Output
M816->X:$07810C,16,1 ; EQU8 compare flag
M817->X:$07810C,17,1 ; ENC8 position-captured flag
M818->X:$07810C,18,1 ; ENC8 Count-error flag
M819->X:$07810C,19,1 ; ENC8 3rd channel input status
M820->X:$07810C,20,1 ; HMFL8 input status
M821->X:$07810C,21,1 ; -LIM8 (positive end) input status
M822->X:$07810C,22,1 ; +LIM8 (negative end) input status
M823->X:$07810C,23,1 ; FAULT8 input status
Motor #8 Status Bits
M830->Y:$000440,11,1 ; #8 Stopped-on-position-limit bit
M831->X:$000430,21,1 ; #8 Positive-end-limit-set bit
M832->X:$000430,22,1 ; #8 Negative-end-limit-set bit
M833->X:$000430,13,1 ; #8 Desired-velocity-zero bit
M835->X:$000430,15,1 ; #8 Dwell-in-progress bit
M837->X:$000430,17,1 ; #8 Running-program bit
M838->X:$000430,18,1 ; #8 Open-loop-mode bit
M839->X:$000430,19,1 ; #8 Amplifier-enabled status bit
M840->Y:$000440,0,1 ; #8 Background in-position bit
M841->Y:$000440,1,1 ; #8 Warning-following error bit
M842->Y:$000440,2,1 ; #8 Fatal-following-error bit
M843->Y:$000440,3,1 ; #8 Amplifier-fault-error bit
M844->Y:$000440,13,1 ; #8 Foreground in-position bit
M845->Y:$000440,10,1 ; #8 Home-complete bit
M846->Y:$000440,6,1 ; #8 Integrated following error fault bit