Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 580
M1746->Y:$0008C0,6,1 ; #17 Integrated following error fault bit
M1747->Y:$0008C0,5,1 ; #17 I2T fault bit
M1748->Y:$0008C0,8,1 ; #17 Phasing error fault bit
M1749->Y:$0008C0,9,1 ; #17 Phasing search-in-progress bit
Motor #17 Move Registers
M1761->D:$000888 ; #17 Commanded position (1/[Ixx08*32] cts)
M1762->D:$00088B ; #17 Actual position (1/[Ixx08*32] cts)
M1763->D:$0008C7 ; #17 Target (end) position (1/[Ixx08*32] cts)
M1764->D:$0008CC ; #17 Position bias (1/[Ixx08*32] cts)
M1766->X:$00089D,0,24,S ; #17 Actual velocity (1/[Ixx09*32] cts/cyc)
M1767->D:$00088D ; #17 Present master pos (1/[Ixx07*32] cts)
M1768->X:$0008BF,8,16,S ; #17 Filter Output (16-bit DAC bits)
M1769->D:$000890 ; #17 Compensation correction (1/[Ixx08*32] cts)
M1770->D:$0008B4 ; #17 Present phase position (including fraction)
M1771->X:$0008B4,24,S ; #17 Present phase position (counts *Ixx70)
M1772->L:$0008D7 ; #17 Variable jog position/distance (cts)
M1773->Y:$0008CE,0,24,S ; #17 Encoder home capture position (cts)
M1774->D:$0008EF ; #17 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1775->X:$0008B9,8,16,S ; #17 Actual quadrature current
M1776->Y:$0008B9,8,16,S ; #17 Actual direct current
M1777->X:$0008BC,8,16,S ; #17 Quadrature current-loop integrator output
M1778->Y:$0008BC,8,16,S ; #17 Direct current-loop integrator output
M1779->X:$0008AE,8,16,S ; #17 PID internal filter result (16-bit DAC bits)
Motor #17 Axis Definition Registers
M1791->L:$0008CF ; #17 X/U/A/B/C-Axis scale factor (cts/unit)
M1792->L:$0008D0 ; #17 Y/V-Axis scale factor (cts/unit)
M1793->L:$0008D1 ; #17 Z/W-Axis scale factor (cts/unit)
M1794->L:$0008D2 ; #17 Axis offset (cts)
Servo IC 4 Registers for Second Acc-24 Channel 2 (usually for Motor #18)
M1801->X:$079205,0,24,S ; ENC2 24-bit counter position
M1802->Y:$079202,8,16,S ; DAC2 16-bit analog output
M1803->X:$079207,0,24,S ; ENC2 capture/compare position register
M1805->Y:$079207,8,16,S ; ADC2 16-bit analog input
M1806->Y:$079204,0,24,U ; ENC2 time between counts (SCLK cycles)
M1810->X:$079204,10,1 ; ENC2 count-write enable control
M1811->X:$079204,11,1 ; EQU2 compare flag latch control
M1812->X:$079204,12,1 ; EQU2 compare output enable
M1813->X:$079204,13,1 ; EQU2 compare invert enable
M1814->X:$079204,14,1 ; AENA2/DIR2 Output
M1816->X:$079204,16,1 ; EQU2 compare flag
M1817->X:$079204,17,1 ; ENC2 position-captured flag
M1818->X:$079204,18,1 ; ENC2 Count-error flag
M1819->X:$079204,19,1 ; ENC2 3rd channel input status
M1820->X:$079204,20,1 ; HMFL2 input status
M1821->X:$079204,21,1 ; -LIM2 (positive end) input status
M1822->X:$079204,22,1 ; +LIM2 (negative end) input status
M1823->X:$079204,23,1 ; FAULT2 input status