Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 689
M770->D:$0003B4 ; #7 Present phase position (including fraction)
M771->X:$0003B4,24,S ; #7 Present phase position (counts *Ixx70)
M772->L:$0003D7 ; #7 Variable jog position/distance (cts)
M773->Y:$0003CE,0,24,S ; #7 Encoder home capture position (cts)
M774->D:$0003EF ; #7 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M775->X:$0003B9,8,16,S ; #7 Actual quadrature current
M776->Y:$0003B9,8,16,S ; #7 Actual direct current
M777->X:$0003BC,8,16,S ; #7 Quadrature current-loop integrator output
M778->Y:$0003BC,8,16,S ; #7 Direct current-loop integrator output
M779->X:$0003AE,8,16,S ; #7 PID internal filter result (16-bit DAC bits)
M788->Y:$078311,0,12,U ; IC 3 Ch 3 Compare A fractional count
M789->Y:$078310,0,12,U ; IC 3 Ch 3 Compare B fractional count
Motor #7 Axis Definition Registers
M791->L:$0003CF ; #7 X/U/A/B/C-Axis scale factor (cts/unit)
M792->L:$0003D0 ; #7 Y/V-Axis scale factor (cts/unit)
M793->L:$0003D1 ; #7 Z/W-Axis scale factor (cts/unit)
M794->L:$0003D2 ; #7 Axis offset (cts)
Servo IC 3 Channel 4 Registers (usually for Motor #8)
M801->X:$078319,0,24,S ; ENC8 24-bit counter position
M802->Y:$07831A,8,16,S ; OUT8A command value; DAC or PWM
M803->X:$07831B,0,24,S ; ENC8 captured position
M804->Y:$07831B,8,16,S ; OUT8B command value; DAC or PWM
M805->Y:$07831D,8,16,S ; ADC8A input value
M806->Y:$07831E,8,16,S ; ADC8B input value
M807->Y:$07831C,8,16,S ; OUT8C command value; PFM or PWM
M808->Y:$07831F,0,24,S ; ENC8 compare A position
M809->X:$07831F,0,24,S ; ENC8 compare B position
M810->X:$07831E,0,24,S ; ENC8 compare autoincrement value
M811->X:$07831D,11 ; ENC8 compare initial state write enable
M812->X:$07831D,12 ; ENC8 compare initial state
M814->X:$07831D,14 ; AENA8 output status
M815->X:$078318,19 ; USER8 flag input status
M816->X:$078318,9 ; ENC8 compare output value
M817->X:$078318,11 ; ENC8 capture flag
M818->X:$078318,8 ; ENC8 count error flag
M819->X:$078318,14 ; CHC8 input status
M820->X:$078318,16 ; HMFL8 flag input status
M821->X:$078318,17 ; PLIM8 flag input status
M822->X:$078318,18 ; MLIM8 flag input status
M823->X:$078318,15 ; FAULT8 flag input status
M824->X:$078318,20 ; Channel 8 W flag input status
M825->X:$078318,21 ; Channel 8 V flag input status
M826->X:$078318,22 ; Channel 8 U flag input status
M827->X:$078318,23 ; Channel 8 T flag input status
M828->X:$078318,20,4 ; Channel 8 TUVW inputs as 4-bit value
Motor #8 Status Bits
M830->Y:$000440,11,1 ; #8 Stopped-on-position-limit bit
M831->X:$000430,21,1 ; #8 Positive-end-limit-set bit
M832->X:$000430,22,1 ; #8 Negative-end-limit-set bit
M833->X:$000430,13,1 ; #8 Desired-velocity-zero bit
M835->X:$000430,15,1 ; #8 Dwell-in-progress bit