Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 569
M847->Y:$000440,5,1 ; #8 I2T fault bit
M848->Y:$000440,8,1 ; #8 Phasing error fault bit
M849->Y:$000440,9,1 ; #8 Phasing search-in-progress bit
Motor #8 Move Registers
M861->D:$000408 ; #8 Commanded position (1/[Ixx08*32] cts)
M862->D:$00040B ; #8 Actual position (1/[Ixx08*32] cts)
M863->D:$000447 ; #8 Target (end) position (1/[Ixx08*32] cts)
M864->D:$00044C ; #8 Position bias (1/[Ixx08*32] cts)
M866->X:$00041D,0,24,S ; #8 Actual velocity (1/[Ixx09*32] cts/cyc)
M867->D:$00040D ; #8 Present master pos (1/[Ixx07*32] cts)
M868->X:$00043F,8,16,S ; #8 Filter Output (16-bit DAC bits)
M869->D:$000410 ; #8 Compensation correction (1/[Ixx08*32] cts)
M870->D:$000434 ; #8 Present phase position (including fraction)
M871->X:$000434,24,S ; #8 Present phase position (counts *Ixx70)
M872->L:$000457 ; #8 Variable jog position/distance (cts)
M873->Y:$00044E,0,24,S ; #8 Encoder home capture position (cts)
M874->D:$00046F ; #8 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M875->X:$000439,8,16,S ; #8 Actual quadrature current
M876->Y:$000439,8,16,S ; #8 Actual direct current
M877->X:$00043C,8,16,S ; #8 Quadrature current-loop integrator output
M878->Y:$00043C,8,16,S ; #8 Direct current-loop integrator output
M879->X:$00042E,8,16,S ; #8 PID internal filter result (16-bit DAC bits)
Motor #8 Axis Definition Registers
M891->L:$00044F ; #8 X/U/A/B/C-Axis scale factor (cts/unit)
M892->L:$000450 ; #8 Y/V-Axis scale factor (cts/unit)
M893->L:$000451 ; #8 Z/W-Axis scale factor (cts/unit)
M894->L:$000452 ; #8 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 1 (usually for Motor #9)
M901->X:$078201,0,24,S ; ENC1 24-bit counter position
M902->Y:$078203,8,16,S ; DAC1 16-bit analog output
M903->X:$078203,0,24,S ; ENC1 capture/compare position register
M905->Y:$078206,8,16,S ; ADC1 16-bit analog input
M906->Y:$078200,0,24,U ; ENC1 time between counts (SCLK cycles)
M910->X:$078200,10,1 ; ENC1 count-write enable control
M911->X:$078200,11,1 ; EQU1 compare flag latch control
M912->X:$078200,12,1 ; EQU1 compare output enable
M913->X:$078200,13,1 ; EQU1 compare invert enable
M914->X:$078200,14,1 ; AENA1/DIR1 Output
M916->X:$078200,16,1 ; EQU1 compare flag
M917->X:$078200,17,1 ; ENC1 position-captured flag
M918->X:$078200,18,1 ; ENC1 Count-error flag
M919->X:$078200,19,1 ; ENC1 3rd channel input status
M920->X:$078200,20,1 ; HMFL1 input status
M921->X:$078200,21,1 ; -LIM1 (positive end) input status
M922->X:$078200,22,1 ; +LIM1 (negative end) input status
M923->X:$078200,23,1 ; FAULT1 input status
Motor #9 Status Bits
M930->Y:$0004C0,11,1 ; #9 Stopped-on-position-limit bit
M931->X:$0004B0,21,1 ; #9 Positive-end-limit-set bit
M932->X:$0004B0,22,1 ; #9 Negative-end-limit-set bit
M933->X:$0004B0,13,1 ; #9 Desired-velocity-zero bit