Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 584
M2068->X:$000A3F,8,16,S ; #20 Filter Output (16-bit DAC bits)
M2069->D:$000A10 ; #20 Compensation correction (1/[Ixx08*32] cts)
M2070->D:$000A34 ; #20 Present phase position (including fraction)
M2071->X:$000A34,24,S ; #20 Present phase position (counts *Ixx70)
M2072->L:$000A57 ; #20 Variable jog position/distance (cts)
M2073->Y:$000A4E,0,24,S ; #20 Encoder home capture position (cts)
M2074->D:$000A6F ; #20 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2075->X:$000A39,8,16,S ; #20 Actual quadrature current
M2076->Y:$000A39,8,16,S ; #20 Actual direct current
M2077->X:$000A3C,8,16,S ; #20 Quadrature current-loop integrator output
M2078->Y:$000A3C,8,16,S ; #20 Direct current-loop integrator output
M2079->X:$000A2E,8,16,S ; #20 PID internal filter result (16-bit DAC bits)
Motor #20 Axis Definition Registers
M2091->L:$000A4F ; #20 X/U/A/B/C-Axis scale factor (cts/unit)
M2092->L:$000A50 ; #20 Y/V-Axis scale factor (cts/unit)
M2093->L:$000A51 ; #20 Z/W-Axis scale factor (cts/unit)
M2094->L:$000A52 ; #20 Axis offset (cts)
Servo IC 5 Registers for Second Acc-24 Channel 5 (usually for Motor #21)
M2101->X:$079301,0,24,S ; ENC5 24-bit counter position
M2102->Y:$079303,8,16,S ; DAC5 16-bit analog output
M2103->X:$079303,0,24,S ; ENC5 capture/compare position register
M2105->Y:$079306,8,16,S ; ADC5 16-bit analog input
M2106->Y:$079300,0,24,U ; ENC5 time between counts (SCLK cycles)
M2110->X:$079300,10,1 ; ENC5 count-write enable control
M2111->X:$079300,11,1 ; EQU5 compare flag latch control
M2112->X:$079300,12,1 ; EQU5 compare output enable
M2113->X:$079300,13,1 ; EQU5 compare invert enable
M2114->X:$079300,14,1 ; AENA5/DIR5 Output
M2116->X:$079300,16,1 ; EQU5 compare flag
M2117->X:$079300,17,1 ; ENC5 position-captured flag
M2118->X:$079300,18,1 ; ENC5 Count-error flag
M2119->X:$079300,19,1 ; ENC5 3rd channel input status
M2120->X:$079300,20,1 ; HMFL5 input status
M2121->X:$079300,21,1 ; -LIM5 (positive end) input status
M2122->X:$079300,22,1 ; +LIM5 (negative end) input status
M2123->X:$079300,23,1 ; FAULT5 input status
Motor #21 Status Bits
M2130->Y:$000AC0,11,1 ; #21 Stopped-on-position-limit bit
M2131->X:$000AB0,21,1 ; #21 Positive-end-limit-set bit
M2132->X:$000AB0,22,1 ; #21 Negative-end-limit-set bit
M2133->X:$000AB0,13,1 ; #21 Desired-velocity-zero bit
M2135->X:$000AB0,15,1 ; #21 Dwell-in-progress bit
M2137->X:$000AB0,17,1 ; #21 Running-program bit
M2138->X:$000AB0,18,1 ; #21 Open-loop-mode bit
M2139->X:$000AB0,19,1 ; #21 Amplifier-enabled status bit
M2140->Y:$000AC0,0,1 ; #21 Background in-position bit
M2141->Y:$000AC0,1,1 ; #21 Warning-following error bit
M2142->Y:$000AC0,2,1 ; #21 Fatal-following-error bit
M2143->Y:$000AC0,3,1 ; #21 Amplifier-fault-error bit
M2144->Y:$000AC0,13,1 ; #21 Foreground in-position bit
M2145->Y:$000AC0,10,1 ; #21 Home-complete bit