Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 613
MACRO IC 0 Node 0 Flag Registers (usually used for Motor #1)
M150->X:$003440,0,24 ; MACRO IC 0 Node 0 flag status register
M151->Y:$003440,0,24 ; MACRO IC 0 Node 0 flag command register
M153->X:$003440,20,4 ; MACRO IC 0 Node 0 TUVW flags
M154->Y:$003440,14,1 ; MACRO IC 0 Node 0 amplifier enable flag
M155->X:$003440,15,1 ; MACRO IC 0 Node 0 node/amplifier fault flag
M156->X:$003440,16,1 ; MACRO IC 0 Node 0 home flag
M157->X:$003440,17,1 ; MACRO IC 0 Node 0 positive limit flag
M158->X:$003440,18,1 ; MACRO IC 0 Node 0 negative limit flag
M159->X:$003440,19,1 ; MACRO IC 0 Node 0 user flag
Motor #1 Move Registers
M161->D:$000088 ; #1 Commanded position (1/[Ixx08*32] cts)
M162->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts)
M163->D:$0000C7 ; #1 Target (end) position (1/[Ixx08*32] cts)
M164->D:$0000CC ; #1 Position bias (1/[Ixx08*32] cts)
M166->X:$00009D,0,24,S ; #1 Actual velocity (1/[Ixx09*32] cts/cyc)
M167->D:$00008D ; #1 Present master pos (1/[Ixx07*32] cts)
M168->X:$0000BF,8,16,S ; #1 Filter Output (16-bit DAC bits)
M169->D:$000090 ; #1 Compensation correction (1/[Ixx08*32] cts)
M170->D:$0000B4 ; #1 Present phase position (including fraction)
M171->X:$0000B4,24,S ; #1 Present phase position (counts *Ixx70)
M172->L:$0000D7 ; #1 Variable jog position/distance (cts)
M173->Y:$0000CE,0,24,S ; #1 Encoder home capture position (cts)
M174->D:$0000EF ; #1 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M175->X:$0000B9,8,16,S ; #1 Actual quadrature current
M176->Y:$0000B9,8,16,S ; #1 Actual direct current
M177->X:$0000BC,8,16,S ; #1 Quadrature current-loop integrator output
M178->Y:$0000BC,8,16,S ; #1 Direct current-loop integrator output
M179->X:$0000AE,8,16,S ; #1 PID internal filter result (16-bit DAC bits)
M188->Y:$078001,0,12,U ; IC 0 Ch 1 Compare A fractional count
M189->Y:$078000,0,12,U ; IC 0 Ch 1 Compare B fractional count
Motor #1 Axis Definition Registers
M191->L:$0000CF ; #1 X/U/A/B/C-Axis scale factor (cts/unit)
M192->L:$0000D0 ; #1 Y/V-Axis scale factor (cts/unit)
M193->L:$0000D1 ; #1 Z/W-Axis scale factor (cts/unit)
M194->L:$0000D2 ; #1 Axis offset (cts)
Servo IC 0 Registers for PMAC2 Channel 2 (usually for Motor #2)
M201->X:$078009,0,24,S ; ENC2 24-bit counter position
M202->Y:$07800A,8,16,S ; OUT2A command value; DAC or PWM
M203->X:$07800B,0,24,S ; ENC2 captured position
M204->Y:$07800B,8,16,S ; OUT2B command value; DAC or PWM
M205->Y:$07800D,8,16,S ; ADC2A input value
M206->Y:$07800E,8,16,S ; ADC2B input value
M207->Y:$07800C,8,16,S ; OUT2C command value; PFM or PWM
M208->Y:$07800F,0,24,S ; ENC2 compare A position
M209->X:$07800F,0,24,S ; ENC2 compare B position
M210->X:$07800E,0,24,S ; ENC2 compare autoincrement value
M211->X:$07800D,11 ; ENC2 compare initial state write enable
M212->X:$07800D,12 ; ENC2 compare initial state
M214->X:$07800D,14 ; AENA2 output status
M215->X:$078008,19 ; USER2 flag input status