Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 573
M1174->D:$0005EF ; #11 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1175->X:$0005B9,8,16,S ; #11 Actual quadrature current
M1176->Y:$0005B9,8,16,S ; #11 Actual direct current
M1177->X:$0005BC,8,16,S ; #11 Quadrature current-loop integrator output
M1178->Y:$0005BC,8,16,S ; #11 Direct current-loop integrator output
M1179->X:$0005AE,8,16,S ; #11 PID internal filter result (16-bit DAC bits)
Motor #11 Axis Definition Registers
M1191->L:$0005CF ; #11 X/U/A/B/C-Axis scale factor (cts/unit)
M1192->L:$0005D0 ; #11 Y/V-Axis scale factor (cts/unit)
M1193->L:$0005D1 ; #11 Z/W-Axis scale factor (cts/unit)
M1194->L:$0005D2 ; #11 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 4 (usually for Motor #12)
M1201->X:$07820D,0,24,S ; ENC4 24-bit counter position
M1202->Y:$07820A,8,16,S ; DAC4 16-bit analog output
M1203->X:$07820F,0,24,S ; ENC4 capture/compare position register
M1205->Y:$07820F,8,16,S ; ADC4 16-bit analog input
M1206->Y:$07820C,0,24,U ; ENC4 time between counts (SCLK cycles)
M1210->X:$07820C,10,1 ; ENC4 count-write enable control
M1211->X:$07820C,11,1 ; EQU4 compare flag latch control
M1212->X:$07820C,12,1 ; EQU4 compare output enable
M1213->X:$07820C,13,1 ; EQU4 compare invert enable
M1214->X:$07820C,14,1 ; AENA4/DIR4 Output
M1216->X:$07820C,16,1 ; EQU4 compare flag
M1217->X:$07820C,17,1 ; ENC4 position-captured flag
M1218->X:$07820C,18,1 ; ENC4 Count-error flag
M1219->X:$07820C,19,1 ; ENC4 3rd channel input status
M1220->X:$07820C,20,1 ; HMFL4 input status
M1221->X:$07820C,21,1 ; -LIM4 (positive end) input status
M1222->X:$07820C,22,1 ; +LIM4 (negative end) input status
M1223->X:$07820C,23,1 ; FAULT4 input status
Motor #12 Status Bits
M1230->Y:$000640,11,1 ; #12 Stopped-on-position-limit bit
M1231->X:$000630,21,1 ; #12 Positive-end-limit-set bit
M1232->X:$000630,22,1 ; #12 Negative-end-limit-set bit
M1233->X:$000630,13,1 ; #12 Desired-velocity-zero bit
M1235->X:$000630,15,1 ; #12 Dwell-in-progress bit
M1237->X:$000630,17,1 ; #12 Running-program bit
M1238->X:$000630,18,1 ; #12 Open-loop-mode bit
M1239->X:$000630,19,1 ; #12 Amplifier-enabled status bit
M1240->Y:$000640,0,1 ; #12 Background in-position bit
M1241->Y:$000640,1,1 ; #12 Warning-following error bit
M1242->Y:$000640,2,1 ; #12 Fatal-following-error bit
M1243->Y:$000640,3,1 ; #12 Amplifier-fault-error bit
M1244->Y:$000640,13,1 ; #12 Foreground in-position bit
M1245->Y:$000640,10,1 ; #12 Home-complete bit
M1246->Y:$000640,6,1 ; #12 Integrated following error fault bit
M1247->Y:$000640,5,1 ; #12 I2T fault bit
M1248->Y:$000640,8,1 ; #12 Phasing error fault bit
M1249->Y:$000640,9,1 ; #12 Phasing search-in-progress bit