Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 583
Motor #19 Axis Definition Registers
M1991->L:$0009CF ; #19 X/U/A/B/C-Axis scale factor (cts/unit)
M1992->L:$0009D0 ; #19 Y/V-Axis scale factor (cts/unit)
M1993->L:$0009D1 ; #19 Z/W-Axis scale factor (cts/unit)
M1994->L:$0009D2 ; #19 Axis offset (cts)
Servo IC 4 Registers for Second Acc-24 Channel 4 (usually for Motor #20)
M2001->X:$07920D,0,24,S ; ENC4 24-bit counter position
M2002->Y:$07920A,8,16,S ; DAC4 16-bit analog output
M2003->X:$07920F,0,24,S ; ENC4 capture/compare position register
M2004->Y:$000A40,13,1 ; #20 Foreground in-position bit
M2005->Y:$07920F,8,16,S ; ADC4 16-bit analog input
M2006->Y:$07920C,0,24,U ; ENC4 time between counts (SCLK cycles)
M2010->X:$07920C,10,1 ; ENC4 count-write enable control
M2011->X:$07920C,11,1 ; EQU4 compare flag latch control
M2012->X:$07920C,12,1 ; EQU4 compare output enable
M2013->X:$07920C,13,1 ; EQU4 compare invert enable
M2014->X:$07920C,14,1 ; AENA4/DIR4 Output
M2016->X:$07920C,16,1 ; EQU4 compare flag
M2017->X:$07920C,17,1 ; ENC4 position-captured flag
M2018->X:$07920C,18,1 ; ENC4 Count-error flag
M2019->X:$07920C,19,1 ; ENC4 3rd channel input status
M2020->X:$07920C,20,1 ; HMFL4 input status
M2021->X:$07920C,21,1 ; -LIM4 (positive end) input status
M2022->X:$07920C,22,1 ; +LIM4 (negative end) input status
M2023->X:$07920C,23,1 ; FAULT4 input status
Motor #20 Status Bits
M2030->Y:$000A40,11,1 ; #20 Stopped-on-position-limit bit
M2031->X:$000A30,21,1 ; #20 Positive-end-limit-set bit
M2032->X:$000A30,22,1 ; #20 Negative-end-limit-set bit
M2033->X:$000A30,13,1 ; #20 Desired-velocity-zero bit
M2035->X:$000A30,15,1 ; #20 Dwell-in-progress bit
M2037->X:$000A30,17,1 ; #20 Running-program bit
M2038->X:$000A30,18,1 ; #20 Open-loop-mode bit
M2039->X:$000A30,19,1 ; #20 Amplifier-enabled status bit
M2040->Y:$000A40,0,1 ; #20 Background in-position bit
M2041->Y:$000A40,1,1 ; #20 Warning-following error bit
M2042->Y:$000A40,2,1 ; #20 Fatal-following-error bit
M2043->Y:$000A40,3,1 ; #20 Amplifier-fault-error bit
M2044->Y:$000A40,13,1 ; #20 Foreground in-position bit
M2045->Y:$000A40,10,1 ; #20 Home-complete bit
M2046->Y:$000A40,6,1 ; #20 Integrated following error fault bit
M2047->Y:$000A40,5,1 ; #20 I2T fault bit
M2048->Y:$000A40,8,1 ; #20 Phasing error fault bit
M2049->Y:$000A40,9,1 ; #20 Phasing search-in-progress bit
Motor #20 Move Registers
M2061->D:$000A08 ; #20 Commanded position (1/[Ixx08*32] cts)
M2062->D:$000A0B ; #20 Actual position (1/[Ixx08*32] cts)
M2063->D:$000A47 ; #20 Target (end) position (1/[Ixx08*32] cts)
M2064->D:$000A4C ; #20 Position bias (1/[Ixx08*32] cts)
M2066->X:$000A1D,0,24,S ; #20 Actual velocity (1/[Ixx09*32] cts/cyc)
M2067->D:$000A0D ; #20 Present master pos (1/[Ixx07*32] cts)