Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 694
M1074->D:$00056F ; #10 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1075->X:$000539,8,16,S ; #10 Actual quadrature current
M1076->Y:$000539,8,16,S ; #10 Actual direct current
M1077->X:$00053C,8,16,S ; #10 Quadrature current-loop integrator output
M1078->Y:$00053C,8,16,S ; #10 Direct current-loop integrator output
M1079->X:$00052E,8,16,S ; #10 PID internal filter result (16-bit DAC bits)
M1088->Y:$079209,0,12,U ; IC 4 Ch 2 Compare A fractional count
M1089->Y:$079208,0,12,U ; IC 4 Ch 2 Compare B fractional count
Motor #10 Axis Definition Registers
M1091->L:$00054F ; #10 X/U/A/B/C-Axis scale factor (cts/unit)
M1092->L:$000550 ; #10 Y/V-Axis scale factor (cts/unit)
M1093->L:$000551 ; #10 Z/W-Axis scale factor (cts/unit)
M1094->L:$000552 ; #10 Axis offset (cts)
Servo IC 4 Channel 3 Registers (usually for Motor #11)
M1101->X:$079211,0,24,S ; ENC3 24-bit counter position
M1102->Y:$079212,8,16,S ; OUT3A command value; DAC or PWM
M1103->X:$079213,0,24,S ; ENC3 captured position
M1104->Y:$079213,8,16,S ; OUT3B command value; DAC or PWM
M1105->Y:$079215,8,16,S ; ADC3A input value
M1106->Y:$079216,8,16,S ; ADC3B input value
M1107->Y:$079214,8,16,S ; OUT3C command value; PFM or PWM
M1108->Y:$079217,0,24,S ; ENC3 compare A position
M1109->X:$079217,0,24,S ; ENC3 compare B position
M1110->X:$079216,0,24,S ; ENC3 compare autoincrement value
M1111->X:$079215,11 ; ENC3 compare initial state write enable
M1112->X:$079215,12 ; ENC3 compare initial state
M1114->X:$079215,14 ; AENA3 output status
M1115->X:$079210,19 ; USER3 flag input status
M1116->X:$079210,9 ; ENC3 compare output value
M1117->X:$079210,11 ; ENC3 capture flag
M1118->X:$079210,8 ; ENC3 count error flag
M1119->X:$079210,14 ; CHC3 input status
M1120->X:$079210,16 ; HMFL3 flag input status
M1121->X:$079210,17 ; PLIM3 flag input status
M1122->X:$079210,18 ; MLIM3 flag input status
M1123->X:$079210,15 ; FAULT3 flag input status
M1124->X:$079210,20 ; Channel 3 W flag input status
M1125->X:$079210,21 ; Channel 3 V flag input status
M1126->X:$079210,22 ; Channel 3 U flag input status
M1127->X:$079210,23 ; Channel 3 T flag input status
M1128->X:$079210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #11 Status Bits
M1130->Y:$0005C0,11,1 ; #11 Stopped-on-position-limit bit
M1131->X:$0005B0,21,1 ; #11 Positive-end-limit-set bit
M1132->X:$0005B0,22,1 ; #11 Negative-end-limit-set bit
M1133->X:$0005B0,13,1 ; #11 Desired-velocity-zero bit
M1135->X:$0005B0,15,1 ; #11 Dwell-in-progress bit
M1137->X:$0005B0,17,1 ; #11 Running-program bit
M1138->X:$0005B0,18,1 ; #11 Open-loop-mode bit
M1139->X:$0005B0,19,1 ; #11 Amplifier-enabled status bit
M1140->Y:$0005C0,0,1 ; #11 Background in-position bit