Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 662
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
M3148->Y:$000FC0,8,1 ; #31 Phasing error fault bit
M3149->Y:$000FC0,9,1 ; #31 Phasing search-in-progress bit
MACRO IC 3 Node 12 Flag Registers (usually used for Motor #31)
M3150->X:$00347C,0,24 ; MACRO IC 3 Node 12 flag status register
M3151->Y:$00347C,0,24 ; MACRO IC 3 Node 12 flag command register
M3153->X:$00347C,20,4 ; MACRO IC 3 Node 12 TUVW flags
M3154->Y:$00347C,14,1 ; MACRO IC 3 Node 12 amplifier enable flag
M3155->X:$00347C,15,1 ; MACRO IC 3 Node 12 node/amplifier fault flag
M3156->X:$00347C,16,1 ; MACRO IC 3 Node 12 home flag
M3157->X:$00347C,17,1 ; MACRO IC 3 Node 12 positive limit flag
M3158->X:$00347C,18,1 ; MACRO IC 3 Node 12 negative limit flag
M3159->X:$00347C,19,1 ; MACRO IC 3 Node 12 user flag
Motor #31 Move Registers
M3161->D:$000F88 ; #31 Commanded position (1/[Ixx08*32] cts)
M3162->D:$000F8B ; #31 Actual position (1/[Ixx08*32] cts)
M3163->D:$000FC7 ; #31 Target (end) position (1/[Ixx08*32] cts)
M3164->D:$000FCC ; #31 Position bias (1/[Ixx08*32] cts)
M3166->X:$000F9D,0,24,S ; #31 Actual velocity (1/[Ixx09*32] cts/cyc)
M3167->D:$000F8D ; #31 Present master pos (1/[Ixx07*32] cts)
M3168->X:$000FBF,8,16,S ; #31 Filter Output (16-bit DAC bits)
M3169->D:$000F90 ; #31 Compensation correction (1/[Ixx08*32] cts)
M3170->D:$000FB4 ; #31 Present phase position (including fraction)
M3171->X:$000FB4,24,S ; #31 Present phase position (counts *Ixx70)
M3172->L:$000FD7 ; #31 Variable jog position/distance (cts)
M3173->Y:$000FCE,0,24,S ; #31 Encoder home capture position (cts)
M3174->D:$000FEF ; #31 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3175->X:$000FB9,8,16,S ; #31 Actual quadrature current
M3176->Y:$000FB9,8,16,S ; #31 Actual direct current
M3177->X:$000FBC,8,16,S ; #31 Quadrature current-loop integrator output
M3178->Y:$000FBC,8,16,S ; #31 Direct current-loop integrator output
M3179->X:$000FAE,8,16,S ; #31 PID internal filter result (16-bit DAC bits)
M3188->Y:$07A311,0,12,U ; IC 7 Ch 3 Compare A fractional count
M3189->Y:$07A310,0,12,U ; IC 7 Ch 3 Compare A fractional count
Motor #31 Axis Definition Registers
M3191->L:$000FCF ; #31 X/U/A/B/C-Axis scale factor (cts/unit)
M3192->L:$000FD0 ; #31 Y/V-Axis scale factor (cts/unit)
M3193->L:$000FD1 ; #31 Z/W-Axis scale factor (cts/unit)
M3194->L:$000FD2 ; #31 Axis offset (cts)
Servo IC 7 Registers for 3rd Acc-24 Channel 8 (usually for Motor #32)
M3201->X:$07A319,0,24,S ; ENC8 24-bit counter position
M3202->Y:$07A31A,8,16,S ; OUT8A command value; DAC or PWM
M3203->X:$07A31B,0,24,S ; ENC8 captured position
M3204->Y:$07A31B,8,16,S ; OUT8B command value; DAC or PWM
M3205->Y:$07A31D,8,16,S ; ADC8A input value
M3206->Y:$07A31E,8,16,S ; ADC8B input value
M3207->Y:$07A31C,8,16,S ; OUT8C command value; PFM or PWM
M3208->Y:$07A31F,0,24,S ; ENC8 compare A position
M3209->X:$07A31F,0,24,S ; ENC8 compare B position
M3210->X:$07A31E,0,24,S ; ENC8 compare autoincrement value
M3211->X:$07A31D,11 ; ENC8 compare initial state write enable