Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 702
M1567->D:$00078D ; #15 Present master pos (1/[Ixx07*32] cts)
M1568->X:$0007BF,8,16,S ; #15 Filter Output (16-bit DAC bits)
M1569->D:$000790 ; #15 Compensation correction (1/[Ixx08*32] cts)
M1570->D:$0007B4 ; #15 Present phase position (including fraction)
M1571->X:$0007B4,24,S ; #15 Present phase position (counts *Ixx70)
M1572->L:$0007D7 ; #15 Variable jog position/distance (cts)
M1573->Y:$0007CE,0,24,S ; #15 Encoder home capture position (cts)
M1574->D:$0007EF ; #15 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1575->X:$0007B9,8,16,S ; #15 Actual quadrature current
M1576->Y:$0007B9,8,16,S ; #15 Actual direct current
M1577->X:$0007BC,8,16,S ; #15 Quadrature current-loop integrator output
M1578->Y:$0007BC,8,16,S ; #15 Direct current-loop integrator output
M1579->X:$0007AE,8,16,S ; #15 PID internal filter result (16-bit DAC bits)
M1588->Y:$079311,0,12,U ; IC 5 Ch 3 Compare A fractional count
M1589->Y:$079310,0,12,U ; IC 5 Ch 3 Compare B fractional count
Motor #15 Axis Definition Registers
M1591->L:$0007CF ; #15 X/U/A/B/C-Axis scale factor (cts/unit)
M1592->L:$0007D0 ; #15 Y/V-Axis scale factor (cts/unit)
M1593->L:$0007D1 ; #15 Z/W-Axis scale factor (cts/unit)
M1594->L:$0007D2 ; #15 Axis offset (cts)
Servo IC 5 Channel 4 Registers (usually for Motor #16)
M1601->X:$079319,0,24,S ; ENC8 24-bit counter position
M1602->Y:$07931A,8,16,S ; OUT8A command value; DAC or PWM
M1603->X:$07931B,0,24,S ; ENC8 captured position
M1604->Y:$07931B,8,16,S ; OUT8B command value; DAC or PWM
M1605->Y:$07931D,8,16,S ; ADC8A input value
M1606->Y:$07931E,8,16,S ; ADC8B input value
M1607->Y:$07931C,8,16,S ; OUT8C command value; PFM or PWM
M1608->Y:$07931F,0,24,S ; ENC8 compare A position
M1609->X:$07931F,0,24,S ; ENC8 compare B position
M1610->X:$07931E,0,24,S ; ENC8 compare autoincrement value
M1611->X:$07931D,11 ; ENC8 compare initial state write enable
M1612->X:$07931D,12 ; ENC8 compare initial state
M1614->X:$07931D,14 ; AENA8 output status
M1615->X:$079318,19 ; USER8 flag input status
M1616->X:$079318,9 ; ENC8 compare output value
M1617->X:$079318,11 ; ENC8 capture flag
M1618->X:$079318,8 ; ENC8 count error flag
M1619->X:$079318,14 ; CHC8 input status
M1620->X:$079318,16 ; HMFL8 flag input status
M1621->X:$079318,17 ; PLIM8 flag input status
M1622->X:$079318,18 ; MLIM8 flag input status
M1623->X:$079318,15 ; FAULT8 flag input status
M1624->X:$079318,20 ; Channel 8 W flag input status
M1625->X:$079318,21 ; Channel 8 V flag input status
M1626->X:$079318,22 ; Channel 8 U flag input status
M1627->X:$079318,23 ; Channel 8 T flag input status
M1628->X:$079318,20,4 ; Channel 8 TUVW inputs as 4-bit value