Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 725
M2974->D:$000EEF ; #29 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2975->X:$000EB9,8,16,S ; #29 Actual quadrature current
M2976->Y:$000EB9,8,16,S ; #29 Actual direct current
M2977->X:$000EBC,8,16,S ; #29 Quadrature current-loop integrator output
M2978->Y:$000EBC,8,16,S ; #29 Direct current-loop integrator output
M2979->X:$000EAE,8,16,S ; #29 PID internal filter result (16-bit DAC bits)
M2988->Y:$07B301,0,12,U ; IC 9 Ch 1 Compare A fractional count
M2989->Y:$07B300,0,12,U ; IC 9 Ch 1 Compare B fractional count
Motor #29 Axis Definition Registers
M2991->L:$000ECF ; #29 X/U/A/B/C-Axis scale factor (cts/unit)
M2992->L:$000ED0 ; #29 Y/V-Axis scale factor (cts/unit)
M2993->L:$000ED1 ; #29 Z/W-Axis scale factor (cts/unit)
M2994->L:$000ED2 ; #29 Axis offset (cts)
Servo IC 9 Channel 2 Registers (usually for Motor #30)
M3001->X:$07B309,0,24,S ; ENC6 24-bit counter position
M3002->Y:$07B30A,8,16,S ; OUT6A command value; DAC or PWM
M3003->X:$07B30B,0,24,S ; ENC6 captured position
M3004->Y:$07B30B,8,16,S ; OUT6B command value; DAC or PWM
M3005->Y:$07B30D,8,16,S ; ADC6A input value
M3006->Y:$07B30E,8,16,S ; ADC6B input value
M3007->Y:$07B30C,8,16,S ; OUT6C command value; PFM or PWM
M3008->Y:$07B30F,0,24,S ; ENC6 compare A position
M3009->X:$07B30F,0,24,S ; ENC6 compare B position
M3010->X:$07B30E,0,24,S ; ENC6 compare autoincrement value
M3011->X:$07B30D,11 ; ENC6 compare initial state write enable
M3012->X:$07B30D,12 ; ENC6 compare initial state
M3014->X:$07B30D,14 ; AENA6 output status
M3015->X:$07B308,19 ; USER6 flag input status
M3016->X:$07B308,9 ; ENC6 compare output value
M3017->X:$07B308,11 ; ENC6 capture flag
M3018->X:$07B308,8 ; ENC6 count error flag
M3019->X:$07B308,14 ; CHC6 input status
M3020->X:$07B308,16 ; HMFL6 flag input status
M3021->X:$07B308,17 ; PLIM6 flag input status
M3022->X:$07B308,18 ; MLIM6 flag input status
M3023->X:$07B308,15 ; FAULT6 flag input status
M3024->X:$07B308,20 ; Channel 6 W flag input status
M3025->X:$07B308,21 ; Channel 6 V flag input status
M3026->X:$07B308,22 ; Channel 6 U flag input status
M3027->X:$07B308,23 ; Channel 6 T flag input status
M3028->X:$07B308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #30 Status Bits
M3030->Y:$000F40,11,1 ; #30 Stopped-on-position-limit bit
M3031->X:$000F30,21,1 ; #30 Positive-end-limit-set bit
M3032->X:$000F30,22,1 ; #30 Negative-end-limit-set bit
M3033->X:$000F30,13,1 ; #30 Desired-velocity-zero bit
M3035->X:$000F30,15,1 ; #30 Dwell-in-progress bit
M3037->X:$000F30,17,1 ; #30 Running-program bit
M3038->X:$000F30,18,1 ; #30 Open-loop-mode bit
M3039->X:$000F30,19,1 ; #30 Amplifier-enabled status bit
M3040->Y:$000F40,0,1 ; #30 Background in-position bit