Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 712
M2174->D:$000AEF ; #21 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2175->X:$000AB9,8,16,S ; #21 Actual quadrature current
M2176->Y:$000AB9,8,16,S ; #21 Actual direct current
M2177->X:$000ABC,8,16,S ; #21 Quadrature current-loop integrator output
M2178->Y:$000ABC,8,16,S ; #21 Direct current-loop integrator output
M2179->X:$000AAE,8,16,S ; #21 PID internal filter result (16-bit DAC bits)
M2188->Y:$07A301,0,12,U ; IC 7 Ch 1 Compare A fractional count
M2189->Y:$07A300,0,12,U ; IC 7 Ch 1 Compare B fractional count
Motor #21 Axis Definition Registers
M2191->L:$000ACF ; #21 X/U/A/B/C-Axis scale factor (cts/unit)
M2192->L:$000AD0 ; #21 Y/V-Axis scale factor (cts/unit)
M2193->L:$000AD1 ; #21 Z/W-Axis scale factor (cts/unit)
M2194->L:$000AD2 ; #21 Axis offset (cts)
Servo IC 7 Channel 2 Registers (usually for Motor #22)
M2201->X:$07A309,0,24,S ; ENC6 24-bit counter position
M2202->Y:$07A30A,8,16,S ; OUT6A command value; DAC or PWM
M2203->X:$07A30B,0,24,S ; ENC6 captured position
M2204->Y:$07A30B,8,16,S ; OUT6B command value; DAC or PWM
M2205->Y:$07A30D,8,16,S ; ADC6A input value
M2206->Y:$07A30E,8,16,S ; ADC6B input value
M2207->Y:$07A30C,8,16,S ; OUT6C command value; PFM or PWM
M2208->Y:$07A30F,0,24,S ; ENC6 compare A position
M2209->X:$07A30F,0,24,S ; ENC6 compare B position
M2210->X:$07A30E,0,24,S ; ENC6 compare autoincrement value
M2211->X:$07A30D,11 ; ENC6 compare initial state write enable
M2212->X:$07A30D,12 ; ENC6 compare initial state
M2214->X:$07A30D,14 ; AENA6 output status
M2215->X:$07A308,19 ; USER6 flag input status
M2216->X:$07A308,9 ; ENC6 compare output value
M2217->X:$07A308,11 ; ENC6 capture flag
M2218->X:$07A308,8 ; ENC6 count error flag
M2219->X:$07A308,14 ; CHC6 input status
M2220->X:$07A308,16 ; HMFL6 flag input status
M2221->X:$07A308,17 ; PLIM6 flag input status
M2222->X:$07A308,18 ; MLIM6 flag input status
M2223->X:$07A308,15 ; FAULT6 flag input status
M2224->X:$07A308,20 ; Channel 6 W flag input status
M2225->X:$07A308,21 ; Channel 6 V flag input status
M2226->X:$07A308,22 ; Channel 6 U flag input status
M2227->X:$07A308,23 ; Channel 6 T flag input status
M2228->X:$07A308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #22 Status Bits
M2230->Y:$000B40,11,1 ; #22 Stopped-on-position-limit bit
M2231->X:$000B30,21,1 ; #22 Positive-end-limit-set bit
M2232->X:$000B30,22,1 ; #22 Negative-end-limit-set bit
M2233->X:$000B30,13,1 ; #22 Desired-velocity-zero bit
M2235->X:$000B30,15,1 ; #22 Dwell-in-progress bit
M2237->X:$000B30,17,1 ; #22 Running-program bit
M2238->X:$000B30,18,1 ; #22 Open-loop-mode bit
M2239->X:$000B30,19,1 ; #22 Amplifier-enabled status bit
M2240->Y:$000B40,0,1 ; #22 Background in-position bit