Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 626
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M948->Y:$0004C0,8,1 ; #9 Phasing error fault bit
M949->Y:$0004C0,9,1 ; #9 Phasing search-in-progress bit
MACRO IC 1 Node 0 Flag Registers (usually used for Motor #9)
M950->X:$003450,0,24 ; MACRO IC 1 Node 0 flag status register
M951->Y:$003450,0,24 ; MACRO IC 1 Node 0 flag command register
M953->X:$003450,20,4 ; MACRO IC 1 Node 0 TUVW flags
M954->Y:$003450,14,1 ; MACRO IC 1 Node 0 amplifier enable flag
M955->X:$003450,15,1 ; MACRO IC 1 Node 0 node/amplifier fault flag
M956->X:$003450,16,1 ; MACRO IC 1 Node 0 home flag
M957->X:$003450,17,1 ; MACRO IC 1 Node 0 positive limit flag
M958->X:$003450,18,1 ; MACRO IC 1 Node 0 negative limit flag
M959->X:$003450,19,1 ; MACRO IC 1 Node 0 user flag
Motor #9 Move Registers
M961->D:$000488 ; #9 Commanded position (1/[Ixx08*32] cts)
M962->D:$00048B ; #9 Actual position (1/[Ixx08*32] cts)
M963->D:$0004C7 ; #9 Target (end) position (1/[Ixx08*32] cts)
M964->D:$0004CC ; #9 Position bias (1/[Ixx08*32] cts)
M966->X:$00049D,0,24,S ; #9 Actual velocity (1/[Ixx09*32] cts/cyc)
M967->D:$00048D ; #9 Present master pos (1/[Ixx07*32] cts)
M968->X:$0004BF,8,16,S ; #9 Filter Output (16-bit DAC bits)
M969->D:$000490 ; #9 Compensation correction (1/[Ixx08*32] cts)
M970->D:$0004B4 ; #9 Present phase position (including fraction)
M971->X:$0004B4,24,S ; #9 Present phase position (counts *Ixx70)
M972->L:$0004D7 ; #9 Variable jog position/distance (cts)
M973->Y:$0004CE,0,24,S ; #9 Encoder home capture position (cts)
M974->D:$0004EF ; #9 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M975->X:$0004B9,8,16,S ; #9 Actual quadrature current
M976->Y:$0004B9,8,16,S ; #9 Actual direct current
M977->X:$0004BC,8,16,S ; #9 Quadrature current-loop integrator output
M978->Y:$0004BC,8,16,S ; #9 Direct current-loop integrator output
M979->X:$0004AE,8,16,S ; #9 PID internal filter result (16-bit DAC bits)
M988->Y:$078201,0,12,U ; IC 2 Ch 1 Compare A fractional count
M989->Y:$078200,0,12,U ; IC 2 Ch 1 Compare B fractional count
Motor #9 Axis Definition Registers
M991->L:$0004CF ; #9 X/U/A/B/C-Axis scale factor (cts/unit)
M992->L:$0004D0 ; #9 Y/V-Axis scale factor (cts/unit)
M993->L:$0004D1 ; #9 Z/W-Axis scale factor (cts/unit)
M994->L:$0004D2 ; #9 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 2 (usually for Motor #10)
M1001->X:$078209,0,24,S ; ENC2 24-bit counter position
M1002->Y:$07820A,8,16,S ; OUT2A command value; DAC or PWM
M1003->X:$07820B,0,24,S ; ENC2 captured position
M1004->Y:$07820B,8,16,S ; OUT2B command value; DAC or PWM
M1005->Y:$07820D,8,16,S ; ADC2A input value
M1006->Y:$07820E,8,16,S ; ADC2B input value
M1007->Y:$07820C,8,16,S ; OUT2C command value; PFM or PWM
M1008->Y:$07820F,0,24,S ; ENC2 compare A position
M1009->X:$07820F,0,24,S ; ENC2 compare B position
M1010->X:$07820E,0,24,S ; ENC2 compare autoincrement value
M1011->X:$07820D,11 ; ENC2 compare initial state write enable