Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 597
M3133->X:$000FB0,13,1 ; #31 Desired-velocity-zero bit
M3135->X:$000FB0,15,1 ; #31 Dwell-in-progress bit
M3137->X:$000FB0,17,1 ; #31 Running-program bit
M3138->X:$000FB0,18,1 ; #31 Open-loop-mode bit
M3139->X:$000FB0,19,1 ; #31 Amplifier-enabled status bit
M3140->Y:$000FC0,0,1 ; #31 Background in-position bit
M3141->Y:$000FC0,1,1 ; #31 Warning-following error bit
M3142->Y:$000FC0,2,1 ; #31 Fatal-following-error bit
M3143->Y:$000FC0,3,1 ; #31 Amplifier-fault-error bit
M3144->Y:$000FC0,13,1 ; #31 Foreground in-position bit
M3145->Y:$000FC0,10,1 ; #31 Home-complete bit
M3146->Y:$000FC0,6,1 ; #31 Integrated following error fault bit
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
M3148->Y:$000FC0,8,1 ; #31 Phasing error fault bit
M3149->Y:$000FC0,9,1 ; #31 Phasing search-in-progress bit
Motor #31 Move Registers
M3161->D:$000F88 ; #31 Commanded position (1/[Ixx08*32] cts)
M3162->D:$000F8B ; #31 Actual position (1/[Ixx08*32] cts)
M3163->D:$000FC7 ; #31 Target (end) position (1/[Ixx08*32] cts)
M3164->D:$000FCC ; #31 Position bias (1/[Ixx08*32] cts)
M3166->X:$000F9D,0,24,S ; #31 Actual velocity (1/[Ixx09*32] cts/cyc)
M3167->D:$000F8D ; #31 Present master pos (1/[Ixx07*32] cts)
M3168->X:$000FBF,8,16,S ; #31 Filter Output (16-bit DAC bits)
M3169->D:$000F90 ; #31 Compensation correction (1/[Ixx08*32] cts)
M3170->D:$000FB4 ; #31 Present phase position (including fraction)
M3171->X:$000FB4,24,S ; #31 Present phase position (counts *Ixx70)
M3172->L:$000FD7 ; #31 Variable jog position/distance (cts)
M3173->Y:$000FCE,0,24,S ; #31 Encoder home capture position (cts)
M3174->D:$000FEF ; #31 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3175->X:$000FB9,8,16,S ; #31 Actual quadrature current
M3176->Y:$000FB9,8,16,S ; #31 Actual direct current
M3177->X:$000FBC,8,16,S ; #31 Quadrature current-loop integrator output
M3178->Y:$000FBC,8,16,S ; #31 Direct current-loop integrator output
M3179->X:$000FAE,8,16,S ; #31 PID internal filter result (16-bit DAC bits)
Motor #31 Axis Definition Registers
M3191->L:$000FCF ; #31 X/U/A/B/C-Axis scale factor (cts/unit)
M3192->L:$000FD0 ; #31 Y/V-Axis scale factor (cts/unit)
M3193->L:$000FD1 ; #31 Z/W-Axis scale factor (cts/unit)
M3194->L:$000FD2 ; #31 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 8 (usually for Motor #32)
M3201->X:$07A30D,0,24,S ; ENC8 24-bit counter position
M3202->Y:$07A30A,8,16,S ; DAC8 16-bit analog output
M3203->X:$07A30F,0,24,S ; ENC8 capture/compare position register
M3205->Y:$07A30F,8,16,S ; ADC8 16-bit analog input
M3206->Y:$07A30C,0,24,U ; ENC8 time between counts (SCLK cycles)
M3210->X:$07A30C,10,1 ; ENC8 count-write enable control
M3211->X:$07A30C,11,1 ; EQU8 compare flag latch control
M3212->X:$07A30C,12,1 ; EQU8 compare output enable
M3213->X:$07A30C,13,1 ; EQU8 compare invert enable
M3214->X:$07A30C,14,1 ; AENA8/DIR8 Output
M3216->X:$07A30C,16,1 ; EQU8 compare flag