Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 586
M2233->X:$000B30,13,1 ; #22 Desired-velocity-zero bit
M2235->X:$000B30,15,1 ; #22 Dwell-in-progress bit
M2237->X:$000B30,17,1 ; #22 Running-program bit
M2238->X:$000B30,18,1 ; #22 Open-loop-mode bit
M2239->X:$000B30,19,1 ; #22 Amplifier-enabled status bit
M2240->Y:$000B40,0,1 ; #22 Background in-position bit
M2241->Y:$000B40,1,1 ; #22 Warning-following error bit
M2242->Y:$000B40,2,1 ; #22 Fatal-following-error bit
M2243->Y:$000B40,3,1 ; #22 Amplifier-fault-error bit
M2244->Y:$000B40,13,1 ; #22 Foreground in-position bit
M2245->Y:$000B40,10,1 ; #22 Home-complete bit
M2246->Y:$000B40,6,1 ; #22 Integrated following error fault bit
M2247->Y:$000B40,5,1 ; #22 I2T fault bit
M2248->Y:$000B40,8,1 ; #22 Phasing error fault bit
M2249->Y:$000B40,9,1 ; #22 Phasing search-in-progress bit
Motor #22 Move Registers
M2261->D:$000B08 ; #22 Commanded position (1/[Ixx08*32] cts)
M2262->D:$000B0B ; #22 Actual position (1/[Ixx08*32] cts)
M2263->D:$000B47 ; #22 Target (end) position (1/[Ixx08*32] cts)
M2264->D:$000B4C ; #22 Position bias (1/[Ixx08*32] cts)
M2266->X:$000B1D,0,24,S ; #22 Actual velocity (1/[Ixx09*32] cts/cyc)
M2267->D:$000B0D ; #22 Present master pos (1/[Ixx07*32] cts)
M2268->X:$000B3F,8,16,S ; #22 Filter Output (16-bit DAC bits)
M2269->D:$000B10 ; #22 Compensation correction (1/[Ixx08*32] cts)
M2270->D:$000B34 ; #22 Present phase position (including fraction)
M2271->X:$000B34,24,S ; #22 Present phase position (counts *Ixx70)
M2272->L:$000B57 ; #22 Variable jog position/distance (cts)
M2273->Y:$000B4E,0,24,S ; #22 Encoder home capture position (cts)
M2274->D:$000B6F ; #22 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2275->X:$000B39,8,16,S ; #22 Actual quadrature current
M2276->Y:$000B39,8,16,S ; #22 Actual direct current
M2277->X:$000B3C,8,16,S ; #22 Quadrature current-loop integrator output
M2278->Y:$000B3C,8,16,S ; #22 Direct current-loop integrator output
M2279->X:$000B2E,8,16,S ; #22 PID internal filter result (16-bit DAC bits)
Motor #22 Axis Definition Registers
M2291->L:$000B4F ; #22 X/U/A/B/C-Axis scale factor (cts/unit)
M2292->L:$000B50 ; #22 Y/V-Axis scale factor (cts/unit)
M2293->L:$000B51 ; #22 Z/W-Axis scale factor (cts/unit)
M2294->L:$000B52 ; #22 Axis offset (cts)
Servo IC 5 Registers for Second Acc-24 Channel 7 (usually for Motor #23)
M2301->X:$079309,0,24,S ; ENC7 24-bit counter position
M2302->Y:$07930B,8,16,S ; DAC7 16-bit analog output
M2303->X:$07930B,0,24,S ; ENC7 capture/compare position register
M2305->Y:$07930E,8,16,S ; ADC7 16-bit analog input
M2306->Y:$079308,0,24,U ; ENC7 time between counts (SCLK cycles)
M2310->X:$079308,10,1 ; ENC7 count-write enable control
M2311->X:$079308,11,1 ; EQU7 compare flag latch control
M2312->X:$079308,12,1 ; EQU7 compare output enable
M2313->X:$079308,13,1 ; EQU7 compare invert enable
M2314->X:$079308,14,1 ; AENA7/DIR7 Output
M2316->X:$079308,16,1 ; EQU7 compare flag