Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 596
M3046->Y:$000F40,6,1 ; #30 Integrated following error fault bit
M3047->Y:$000F40,5,1 ; #30 I2T fault bit
M3048->Y:$000F40,8,1 ; #30 Phasing error fault bit
M3049->Y:$000F40,9,1 ; #30 Phasing search-in-progress bit
Motor #30 Move Registers
M3061->D:$000F08 ; #30 Commanded position (1/[Ixx08*32] cts)
M3062->D:$000F0B ; #30 Actual position (1/[Ixx08*32] cts)
M3063->D:$000F47 ; #30 Target (end) position (1/[Ixx08*32] cts)
M3064->D:$000F4C ; #30 Position bias (1/[Ixx08*32] cts)
M3066->X:$000F1D,0,24,S ; #30 Actual velocity (1/[Ixx09*32] cts/cyc)
M3067->D:$000F0D ; #30 Present master pos (1/[Ixx07*32] cts)
M3068->X:$000F3F,8,16,S ; #30 Filter Output (16-bit DAC bits)
M3069->D:$000F10 ; #30 Compensation correction (1/[Ixx08*32] cts)
M3070->D:$000F34 ; #30 Present phase position (including fraction)
M3071->X:$000F34,24,S ; #30 Present phase position (counts *Ixx70)
M3072->L:$000F57 ; #30 Variable jog position/distance (cts)
M3073->Y:$000F4E,0,24,S ; #30 Encoder home capture position (cts)
M3074->D:$000F6F ; #30 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3075->X:$000F39,8,16,S ; #30 Actual quadrature current
M3076->Y:$000F39,8,16,S ; #30 Actual direct current
M3077->X:$000F3C,8,16,S ; #30 Quadrature current-loop integrator output
M3078->Y:$000F3C,8,16,S ; #30 Direct current-loop integrator output
M3079->X:$000F2E,8,16,S ; #30 PID internal filter result (16-bit DAC bits)
Motor #30 Axis Definition Registers
M3091->L:$000F4F ; #30 X/U/A/B/C-Axis scale factor (cts/unit)
M3092->L:$000F50 ; #30 Y/V-Axis scale factor (cts/unit)
M3093->L:$000F51 ; #30 Z/W-Axis scale factor (cts/unit)
M3094->L:$000F52 ; #30 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 7 (usually for Motor #31)
M3101->X:$07A309,0,24,S ; ENC7 24-bit counter position
M3102->Y:$07A30B,8,16,S ; DAC7 16-bit analog output
M3103->X:$07A30B,0,24,S ; ENC7 capture/compare position register
M3105->Y:$07A30E,8,16,S ; ADC7 16-bit analog input
M3106->Y:$07A308,0,24,U ; ENC7 time between counts (SCLK cycles)
M3110->X:$07A308,10,1 ; ENC7 count-write enable control
M3111->X:$07A308,11,1 ; EQU7 compare flag latch control
M3112->X:$07A308,12,1 ; EQU7 compare output enable
M3113->X:$07A308,13,1 ; EQU7 compare invert enable
M3114->X:$07A308,14,1 ; AENA7/DIR7 Output
M3116->X:$07A308,16,1 ; EQU7 compare flag
M3117->X:$07A308,17,1 ; ENC7 position-captured flag
M3118->X:$07A308,18,1 ; ENC7 Count-error flag
M3119->X:$07A308,19,1 ; ENC7 3rd channel input status
M3120->X:$07A308,20,1 ; HMFL7 input status
M3121->X:$07A308,21,1 ; -LIM7 (positive end) input status
M3122->X:$07A308,22,1 ; +LIM7 (negative end) input status
M3123->X:$07A308,23,1 ; FAULT7 input status
Motor #31 Status Bits
M3130->Y:$000FC0,11,1 ; #31 Stopped-on-position-limit bit
M3131->X:$000FB0,21,1 ; #31 Positive-end-limit-set bit
M3132->X:$000FB0,22,1 ; #31 Negative-end-limit-set bit