Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 579
M1668->X:$00083F,8,16,S ; #16 Filter Output (16-bit DAC bits)
M1669->D:$000810 ; #16 Compensation correction (1/[Ixx08*32] cts)
M1670->D:$000834 ; #16 Present phase position (including fraction)
M1671->X:$000834,24,S ; #16 Present phase position (counts *Ixx70)
M1672->L:$000857 ; #16 Variable jog position/distance (cts)
M1673->Y:$00084E,0,24,S ; #16 Encoder home capture position (cts)
M1674->D:$00086F ; #16 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1675->X:$000839,8,16,S ; #16 Actual quadrature current
M1676->Y:$000839,8,16,S ; #16 Actual direct current
M1677->X:$00083C,8,16,S ; #16 Quadrature current-loop integrator output
M1678->Y:$00083C,8,16,S ; #16 Direct current-loop integrator output
M1679->X:$00082E,8,16,S ; #16 PID internal filter result (16-bit DAC bits)
Motor #16 Axis Definition Registers
M1691->L:$00084F ; #16 X/U/A/B/C-Axis scale factor (cts/unit)
M1692->L:$000850 ; #16 Y/V-Axis scale factor (cts/unit)
M1693->L:$000851 ; #16 Z/W-Axis scale factor (cts/unit)
M1694->L:$000852 ; #16 Axis offset (cts)
Servo IC 4 Registers for Second Acc-24 Channel 1 (usually for Motor #17)
M1701->X:$079201,0,24,S ; ENC1 24-bit counter position
M1702->Y:$079203,8,16,S ; DAC1 16-bit analog output
M1703->X:$079203,0,24,S ; ENC1 capture/compare position register
M1705->Y:$079206,8,16,S ; ADC1 16-bit analog input
M1706->Y:$079200,0,24,U ; ENC1 time between counts (SCLK cycles)
M1710->X:$079200,10,1 ; ENC1 count-write enable control
M1711->X:$079200,11,1 ; EQU1 compare flag latch control
M1712->X:$079200,12,1 ; EQU1 compare output enable
M1713->X:$079200,13,1 ; EQU1 compare invert enable
M1714->X:$079200,14,1 ; AENA1/DIR1 Output
M1716->X:$079200,16,1 ; EQU1 compare flag
M1717->X:$079200,17,1 ; ENC1 position-captured flag
M1718->X:$079200,18,1 ; ENC1 Count-error flag
M1719->X:$079200,19,1 ; ENC1 3rd channel input status
M1720->X:$079200,20,1 ; HMFL1 input status
M1721->X:$079200,21,1 ; -LIM1 (positive end) input status
M1722->X:$079200,22,1 ; +LIM1 (negative end) input status
M1723->X:$079200,23,1 ; FAULT1 input status
Motor #17 Status Bits
M1730->Y:$0008C0,11,1 ; #17 Stopped-on-position-limit bit
M1731->X:$0008B0,21,1 ; #17 Positive-end-limit-set bit
M1732->X:$0008B0,22,1 ; #17 Negative-end-limit-set bit
M1733->X:$0008B0,13,1 ; #17 Desired-velocity-zero bit
M1735->X:$0008B0,15,1 ; #17 Dwell-in-progress bit
M1737->X:$0008B0,17,1 ; #17 Running-program bit
M1738->X:$0008B0,18,1 ; #17 Open-loop-mode bit
M1739->X:$0008B0,19,1 ; #17 Amplifier-enabled status bit
M1740->Y:$0008C0,0,1 ; #17 Background in-position bit
M1741->Y:$0008C0,1,1 ; #17 Warning-following error bit
M1742->Y:$0008C0,2,1 ; #17 Fatal-following-error bit
M1743->Y:$0008C0,3,1 ; #17 Amplifier-fault-error bit
M1744->Y:$0008C0,13,1 ; #17 Foreground in-position bit
M1745->Y:$0008C0,10,1 ; #17 Home-complete bit