Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 578
M1579->X:$0007AE,8,16,S ; #15 PID internal filter result (16-bit DAC bits)
Motor #15 Axis Definition Registers
M1591->L:$0007CF ; #15 X/U/A/B/C-Axis scale factor (cts/unit)
M1592->L:$0007D0 ; #15 Y/V-Axis scale factor (cts/unit)
M1593->L:$0007D1 ; #15 Z/W-Axis scale factor (cts/unit)
M1594->L:$0007D2 ; #15 Axis offset (cts)
Servo IC 3 Registers for First Acc-24 Channel 8 (usually for Motor #16)
M1601->X:$07830D,0,24,S ; ENC8 24-bit counter position
M1602->Y:$07830A,8,16,S ; DAC8 16-bit analog output
M1603->X:$07830F,0,24,S ; ENC8 capture/compare position register
M1605->Y:$07830F,8,16,S ; ADC8 16-bit analog input
M1606->Y:$07830C,0,24,U ; ENC8 time between counts (SCLK cycles)
M1610->X:$07830C,10,1 ; ENC8 count-write enable control
M1611->X:$07830C,11,1 ; EQU8 compare flag latch control
M1612->X:$07830C,12,1 ; EQU8 compare output enable
M1613->X:$07830C,13,1 ; EQU8 compare invert enable
M1614->X:$07830C,14,1 ; AENA8/DIR8 Output
M1616->X:$07830C,16,1 ; EQU8 compare flag
M1617->X:$07830C,17,1 ; ENC8 position-captured flag
M1618->X:$07830C,18,1 ; ENC8 Count-error flag
M1619->X:$07830C,19,1 ; ENC8 3rd channel input status
M1620->X:$07830C,20,1 ; HMFL8 input status
M1621->X:$07830C,21,1 ; -LIM8 (positive end) input status
M1622->X:$07830C,22,1 ; +LIM8 (negative end) input status
M1623->X:$07830C,23,1 ; FAULT8 input status
Motor #16 Status Bits
M1630->Y:$000840,11,1 ; #16 Stopped-on-position-limit bit
M1631->X:$000830,21,1 ; #16 Positive-end-limit-set bit
M1632->X:$000830,22,1 ; #16 Negative-end-limit-set bit
M1633->X:$000830,13,1 ; #16 Desired-velocity-zero bit
M1635->X:$000830,15,1 ; #16 Dwell-in-progress bit
M1637->X:$000830,17,1 ; #16 Running-program bit
M1638->X:$000830,18,1 ; #16 Open-loop-mode bit
M1639->X:$000830,19,1 ; #16 Amplifier-enabled status bit
M1640->Y:$000840,0,1 ; #16 Background in-position bit
M1641->Y:$000840,1,1 ; #16 Warning-following error bit
M1642->Y:$000840,2,1 ; #16 Fatal-following-error bit
M1643->Y:$000840,3,1 ; #16 Amplifier-fault-error bit
M1644->Y:$000840,13,1 ; #16 Foreground in-position bit
M1645->Y:$000840,10,1 ; #16 Home-complete bit
M1646->Y:$000840,6,1 ; #16 Integrated following error fault bit
M1647->Y:$000840,5,1 ; #16 I2T fault bit
M1648->Y:$000840,8,1 ; #16 Phasing error fault bit
M1649->Y:$000840,9,1 ; #16 Phasing search-in-progress bit
Motor #16 Move Registers
M1661->D:$000808 ; #16 Commanded position (1/[Ixx08*32] cts)
M1662->D:$00080B ; #16 Actual position (1/[Ixx08*32] cts)
M1663->D:$000847 ; #16 Target (end) position (1/[Ixx08*32] cts)
M1664->D:$00084C ; #16 Position bias (1/[Ixx08*32] cts)
M1666->X:$00081D,0,24,S ; #16 Actual velocity (1/[Ixx09*32] cts/cyc)
M1667->D:$00080D ; #16 Present master pos (1/[Ixx07*32] cts)