Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 620
M574->D:$0002EF ; #5 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M575->X:$0002B9,8,16,S ; #5 Actual quadrature current
M576->Y:$0002B9,8,16,S ; #5 Actual direct current
M577->X:$0002BC,8,16,S ; #5 Quadrature current-loop integrator output
M578->Y:$0002BC,8,16,S ; #5 Direct current-loop integrator output
M579->X:$0002AE,8,16,S ; #5 PID internal filter result (16-bit DAC bits)
M588->Y:$078101,0,12,U ; IC 1 Ch 1 Compare A fractional count
M589->Y:$078100,0,12,U ; IC 1 Ch 1 Compare B fractional count
Motor #5 Axis Definition Registers
M591->L:$0002CF ; #5 X/U/A/B/C-Axis scale factor (cts/unit)
M592->L:$0002D0 ; #5 Y/V-Axis scale factor (cts/unit)
M593->L:$0002D1 ; #5 Z/W-Axis scale factor (cts/unit)
M594->L:$0002D2 ; #5 Axis offset (cts)
Servo IC 1 Registers for PMAC2 Channel 6 (usually for Motor #6)
M601->X:$078109,0,24,S ; ENC6 24-bit counter position
M602->Y:$07810A,8,16,S ; OUT6A command value; DAC or PWM
M603->X:$07810B,0,24,S ; ENC6 captured position
M604->Y:$07810B,8,16,S ; OUT6B command value; DAC or PWM
M605->Y:$07810D,8,16,S ; ADC6A input value
M606->Y:$07810E,8,16,S ; ADC6B input value
M607->Y:$07810C,8,16,S ; OUT6C command value; PFM or PWM
M608->Y:$07810F,0,24,S ; ENC6 compare A position
M609->X:$07810F,0,24,S ; ENC6 compare B position
M610->X:$07810E,0,24,S ; ENC6 compare autoincrement value
M611->X:$07810D,11 ; ENC6 compare initial state write enable
M612->X:$07810D,12 ; ENC6 compare initial state
M614->X:$07810D,14 ; AENA6 output status
M615->X:$078108,19 ; USER6 flag input status
M616->X:$078108,9 ; ENC6 compare output value
M617->X:$078108,11 ; ENC6 capture flag
M618->X:$078108,8 ; ENC6 count error flag
M619->X:$078108,14 ; CHC6 input status
M620->X:$078108,16 ; HMFL6 flag input status
M621->X:$078108,17 ; PLIM6 flag input status
M622->X:$078108,18 ; MLIM6 flag input status
M623->X:$078108,15 ; FAULT6 flag input status
M624->X:$078108,20 ; Channel 6 W flag input status
M625->X:$078108,21 ; Channel 6 V flag input status
M626->X:$078108,22 ; Channel 6 U flag input status
M627->X:$078108,23 ; Channel 6 T flag input status
M628->X:$078108,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #6 Status Bits
M630->Y:$000340,11,1 ; #6 Stopped-on-position-limit bit
M631->X:$000330,21,1 ; #6 Positive-end-limit-set bit
M632->X:$000330,22,1 ; #6 Negative-end-limit-set bit
M633->X:$000330,13,1 ; #6 Desired-velocity-zero bit
M635->X:$000330,15,1 ; #6 Dwell-in-progress bit
M637->X:$000330,17,1 ; #6 Running-program bit
M638->X:$000330,18,1 ; #6 Open-loop-mode bit
M639->X:$000330,19,1 ; #6 Amplifier-enabled status bit
M640->Y:$000340,0,1 ; #6 Background in-position bit