Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 615
M270->D:$000134 ; #2 Present phase position (including fraction)
M271->X:$000134,24,S ; #2 Present phase position (counts *Ixx70)
M272->L:$000157 ; #2 Variable jog position/distance (cts)
M273->Y:$00014E,0,24,S ; #2 Encoder home capture position (cts)
M274->D:$00016F ; #2 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M275->X:$000139,8,16,S ; #2 Actual quadrature current
M276->Y:$000139,8,16,S ; #2 Actual direct current
M277->X:$00013C,8,16,S ; #2 Quadrature current-loop integrator output
M278->Y:$00013C,8,16,S ; #2 Direct current-loop integrator output
M279->X:$00012E,8,16,S ; #2 PID internal filter result (16-bit DAC bits)
M288->Y:$078009,0,12,U ; IC 0 Ch 2 Compare A fractional count
M289->Y:$078008,0,12,U ; IC 0 Ch 2 Compare B fractional count
Motor #2 Axis Definition Registers
M291->L:$00014F ; #2 X/U/A/B/C-Axis scale factor (cts/unit)
M292->L:$000150 ; #2 Y/V-Axis scale factor (cts/unit)
M293->L:$000151 ; #2 Z/W-Axis scale factor (cts/unit)
M294->L:$000152 ; #2 Axis offset (cts)
Servo IC 0 Registers for PMAC2 Channel 3 (usually for Motor #3)
M301->X:$078011,0,24,S ; ENC3 24-bit counter position
M302->Y:$078012,8,16,S ; OUT3A command value; DAC or PWM
M303->X:$078013,0,24,S ; ENC3 captured position
M304->Y:$078013,8,16,S ; OUT3B command value; DAC or PWM
M305->Y:$078015,8,16,S ; ADC3A input value
M306->Y:$078016,8,16,S ; ADC3B input value
M307->Y:$078014,8,16,S ; OUT3C command value; PFM or PWM
M308->Y:$078017,0,24,S ; ENC3 compare A position
M309->X:$078017,0,24,S ; ENC3 compare B position
M310->X:$078016,0,24,S ; ENC3 compare autoincrement value
M311->X:$078015,11 ; ENC3 compare initial state write enable
M312->X:$078015,12 ; ENC3 compare initial state
M314->X:$078015,14 ; AENA3 output status
M315->X:$078010,19 ; USER3 flag input status
M316->X:$078010,9 ; ENC3 compare output value
M317->X:$078010,11 ; ENC3 capture flag
M318->X:$078010,8 ; ENC3 count error flag
M319->X:$078010,14 ; CHC3 input status
M320->X:$078010,16 ; HMFL3 flag input status
M321->X:$078010,17 ; PLIM3 flag input status
M322->X:$078010,18 ; MLIM3 flag input status
M323->X:$078010,15 ; FAULT3 flag input status
M324->X:$078010,20 ; Channel 3 W flag input status
M325->X:$078010,21 ; Channel 3 V flag input status
M326->X:$078010,22 ; Channel 3 U flag input status
M327->X:$078010,23 ; Channel 3 T flag input status
M328->X:$078010,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #3 Status Bits
M330->Y:$0001C0,11,1 ; #3 Stopped-on-position-limit bit
M331->X:$0001B0,21,1 ; #3 Positive-end-limit-set bit
M332->X:$0001B0,22,1 ; #3 Negative-end-limit-set bit
M333->X:$0001B0,13,1 ; #3 Desired-velocity-zero bit
M335->X:$0001B0,15,1 ; #3 Dwell-in-progress bit