Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 594
M2879->X:$000E2E,8,16,S ; #28 PID internal filter result (16-bit DAC bits)
Motor #28 Axis Definition Registers
M2891->L:$000E4F ; #28 X/U/A/B/C-Axis scale factor (cts/unit)
M2892->L:$000E50 ; #28 Y/V-Axis scale factor (cts/unit)
M2893->L:$000E51 ; #28 Z/W-Axis scale factor (cts/unit)
M2894->L:$000E52 ; #28 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 5 (usually for Motor #29)
M2901->X:$07A301,0,24,S ; ENC5 24-bit counter position
M2902->Y:$07A303,8,16,S ; DAC5 16-bit analog output
M2903->X:$07A303,0,24,S ; ENC5 capture/compare position register
M2905->Y:$07A306,8,16,S ; ADC5 16-bit analog input
M2906->Y:$07A300,0,24,U ; ENC5 time between counts (SCLK cycles)
M2910->X:$07A300,10,1 ; ENC5 count-write enable control
M2911->X:$07A300,11,1 ; EQU5 compare flag latch control
M2912->X:$07A300,12,1 ; EQU5 compare output enable
M2913->X:$07A300,13,1 ; EQU5 compare invert enable
M2914->X:$07A300,14,1 ; AENA5/DIR5 Output
M2916->X:$07A300,16,1 ; EQU5 compare flag
M2917->X:$07A300,17,1 ; ENC5 position-captured flag
M2918->X:$07A300,18,1 ; ENC5 Count-error flag
M2919->X:$07A300,19,1 ; ENC5 3rd channel input status
M2920->X:$07A300,20,1 ; HMFL5 input status
M2921->X:$07A300,21,1 ; -LIM5 (positive end) input status
M2922->X:$07A300,22,1 ; +LIM5 (negative end) input status
M2923->X:$07A300,23,1 ; FAULT5 input status
Motor #29 Status Bits
M2930->Y:$000EC0,11,1 ; #29 Stopped-on-position-limit bit
M2931->X:$000EB0,21,1 ; #29 Positive-end-limit-set bit
M2932->X:$000EB0,22,1 ; #29 Negative-end-limit-set bit
M2933->X:$000EB0,13,1 ; #29 Desired-velocity-zero bit
M2935->X:$000EB0,15,1 ; #29 Dwell-in-progress bit
M2937->X:$000EB0,17,1 ; #29 Running-program bit
M2938->X:$000EB0,18,1 ; #29 Open-loop-mode bit
M2939->X:$000EB0,19,1 ; #29 Amplifier-enabled status bit
M2940->Y:$000EC0,0,1 ; #29 Background in-position bit
M2941->Y:$000EC0,1,1 ; #29 Warning-following error bit
M2942->Y:$000EC0,2,1 ; #29 Fatal-following-error bit
M2943->Y:$000EC0,3,1 ; #29 Amplifier-fault-error bit
M2944->Y:$000EC0,13,1 ; #29 Foreground in-position bit
M2945->Y:$000EC0,10,1 ; #29 Home-complete bit
M2946->Y:$000EC0,6,1 ; #29 Integrated following error fault bit
M2947->Y:$000EC0,5,1 ; #29 I2T fault bit
M2948->Y:$000EC0,8,1 ; #29 Phasing error fault bit
M2949->Y:$000EC0,9,1 ; #29 Phasing search-in-progress bit
Motor #29 Move Registers
M2961->D:$000E88 ; #29 Commanded position (1/[Ixx08*32] cts)
M2962->D:$000E8B ; #29 Actual position (1/[Ixx08*32] cts)
M2963->D:$000EC7 ; #29 Target (end) position (1/[Ixx08*32] cts)
M2964->D:$000ECC ; #29 Position bias (1/[Ixx08*32] cts)
M2966->X:$000E9D,0,24,S ; #29 Actual velocity (1/[Ixx09*32] cts/cyc)
M2967->D:$000E8D ; #29 Present master pos (1/[Ixx07*32] cts)