Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 720
M2668->X:$000D3F,8,16,S ; #26 Filter Output (16-bit DAC bits)
M2669->D:$000D10 ; #26 Compensation correction (1/[Ixx08*32] cts)
M2670->D:$000D34 ; #26 Present phase position (including fraction)
M2671->X:$000D34,24,S ; #26 Present phase position (counts *Ixx70)
M2672->L:$000D57 ; #26 Variable jog position/distance (cts)
M2673->Y:$000D4E,0,24,S ; #26 Encoder home capture position (cts)
M2674->D:$000D6F ; #26 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2675->X:$000D39,8,16,S ; #26 Actual quadrature current
M2676->Y:$000D39,8,16,S ; #26 Actual direct current
M2677->X:$000D3C,8,16,S ; #26 Quadrature current-loop integrator output
M2678->Y:$000D3C,8,16,S ; #26 Direct current-loop integrator output
M2679->X:$000D2E,8,16,S ; #26 PID internal filter result (16-bit DAC bits)
M2688->Y:$07B209,0,12,U ; IC 8 Ch 2 Compare A fractional count
M2689->Y:$07B208,0,12,U ; IC 8 Ch 2 Compare B fractional count
Motor #26 Axis Definition Registers
M2691->L:$000D4F ; #26 X/U/A/B/C-Axis scale factor (cts/unit)
M2692->L:$000D50 ; #26 Y/V-Axis scale factor (cts/unit)
M2693->L:$000D51 ; #26 Z/W-Axis scale factor (cts/unit)
M2694->L:$000D52 ; #26 Axis offset (cts)
Servo IC 8 Channel 3 Registers (usually for Motor #27)
M2701->X:$07B211,0,24,S ; ENC3 24-bit counter position
M2702->Y:$07B212,8,16,S ; OUT3A command value; DAC or PWM
M2703->X:$07B213,0,24,S ; ENC3 captured position
M2704->Y:$07B213,8,16,S ; OUT3B command value; DAC or PWM
M2705->Y:$07B215,8,16,S ; ADC3A input value
M2706->Y:$07B216,8,16,S ; ADC3B input value
M2707->Y:$07B214,8,16,S ; OUT3C command value; PFM or PWM
M2708->Y:$07B217,0,24,S ; ENC3 compare A position
M2709->X:$07B217,0,24,S ; ENC3 compare B position
M2710->X:$07B216,0,24,S ; ENC3 compare autoincrement value
M2711->X:$07B215,11 ; ENC3 compare initial state write enable
M2712->X:$07B215,12 ; ENC3 compare initial state
M2714->X:$07B215,14 ; AENA3 output status
M2715->X:$07B210,19 ; USER3 flag input status
M2716->X:$07B210,9 ; ENC3 compare output value
M2717->X:$07B210,11 ; ENC3 capture flag
M2718->X:$07B210,8 ; ENC3 count error flag
M2719->X:$07B210,14 ; CHC3 input status
M2720->X:$07B210,16 ; HMFL3 flag input status
M2721->X:$07B210,17 ; PLIM3 flag input status
M2722->X:$07B210,18 ; MLIM3 flag input status
M2723->X:$07B210,15 ; FAULT3 flag input status
M2724->X:$07B210,20 ; Channel 3 W flag input status
M2725->X:$07B210,21 ; Channel 3 V flag input status
M2726->X:$07B210,22 ; Channel 3 U flag input status
M2727->X:$07B210,23 ; Channel 3 T flag input status
M2728->X:$07B210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #27 Status Bits
M2730->Y:$000DC0,11,1 ; #27 Stopped-on-position-limit bit
M2731->X:$000DB0,21,1 ; #27 Positive-end-limit-set bit
M2732->X:$000DB0,22,1 ; #27 Negative-end-limit-set bit