Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 618
M454->Y:$003445,14,1 ; MACRO IC 0 Node 5 amplifier enable flag
M455->X:$003445,15,1 ; MACRO IC 0 Node 5 node/amplifier fault flag
M456->X:$003445,16,1 ; MACRO IC 0 Node 5 home flag
M457->X:$003445,17,1 ; MACRO IC 0 Node 5 positive limit flag
M458->X:$003445,18,1 ; MACRO IC 0 Node 5 negative limit flag
M459->X:$003445,19,1 ; MACRO IC 0 Node 5 user flag
Motor #4 Move Registers
M461->D:$000208 ; #4 Commanded position (1/[Ixx08*32] cts)
M462->D:$00020B ; #4 Actual position (1/[Ixx08*32] cts)
M463->D:$000247 ; #4 Target (end) position (1/[Ixx08*32] cts)
M464->D:$00024C ; #4 Position bias (1/[Ixx08*32] cts)
M466->X:$00021D,0,24,S ; #4 Actual velocity (1/[Ixx09*32] cts/cyc)
M467->D:$00020D ; #4 Present master pos (1/[Ixx07*32] cts)
M468->X:$00023F,8,16,S ; #4 Filter Output (16-bit DAC bits)
M469->D:$000210 ; #4 Compensation correction (1/[Ixx08*32] cts)
M470->D:$000234 ; #4 Present phase position (including fraction)
M471->X:$000234,24,S ; #4 Present phase position (counts *Ixx70)
M472->L:$000257 ; #4 Variable jog position/distance (cts)
M473->Y:$00024E,0,24,S ; #4 Encoder home capture position (cts)
M474->D:$00026F ; #4 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M475->X:$000239,8,16,S ; #4 Actual quadrature current
M476->Y:$000239,8,16,S ; #4 Actual direct current
M477->X:$00023C,8,16,S ; #4 Quadrature current-loop integrator output
M478->Y:$00023C,8,16,S ; #4 Direct current-loop integrator output
M479->X:$00022E,8,16,S ; #4 PID internal filter result (16-bit DAC bits)
M488->Y:$078019,0,12,U ; IC 0 Ch 4 Compare A fractional count
M489->Y:$078018,0,12,U ; IC 0 Ch 4 Compare B fractional count
Motor #4 Axis Definition Registers
M491->L:$00024F ; #4 X/U/A/B/C-Axis scale factor (cts/unit)
M492->L:$000250 ; #4 Y/V-Axis scale factor (cts/unit)
M493->L:$000251 ; #4 Z/W-Axis scale factor (cts/unit)
M494->L:$000252 ; #4 Axis offset (cts)
Servo IC 1 Registers for PMAC2 Channel 5 (usually for Motor #5)
M501->X:$078101,0,24,S ; ENC5 24-bit counter position
M502->Y:$078102,8,16,S ; OUT5A command value; DAC or PWM
M503->X:$078103,0,24,S ; ENC5 captured position
M504->Y:$078103,8,16,S ; OUT5B command value; DAC or PWM
M505->Y:$078105,8,16,S ; ADC5A input value
M506->Y:$078106,8,16,S ; ADC5B input value
M507->Y:$078104,8,16,S ; OUT5C command value; PFM or PWM
M508->Y:$078107,0,24,S ; ENC5 compare A position
M509->X:$078107,0,24,S ; ENC5 compare B position
M510->X:$078106,0,24,S ; ENC5 compare autoincrement value
M511->X:$078105,11 ; ENC5 compare initial state write enable
M512->X:$078105,12 ; ENC5 compare initial state
M514->X:$078105,14 ; AENA5 output status
M515->X:$078100,19 ; USER5 flag input status
M516->X:$078100,9 ; ENC5 compare output value
M517->X:$078100,11 ; ENC5 capture flag
M518->X:$078100,8 ; ENC5 count error flag
M519->X:$078100,14 ; CHC5 input status