Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 565
Motor #5 Status Bits
M530->Y:$0002C0,11,1 ; #5 Stopped-on-position-limit bit
M531->X:$0002B0,21,1 ; #5 Positive-end-limit-set bit
M532->X:$0002B0,22,1 ; #5 Negative-end-limit-set bit
M533->X:$0002B0,13,1 ; #5 Desired-velocity-zero bit
M535->X:$0002B0,15,1 ; #5 Dwell-in-progress bit
M537->X:$0002B0,17,1 ; #5 Running-program bit
M538->X:$0002B0,18,1 ; #5 Open-loop-mode bit
M539->X:$0002B0,19,1 ; #5 Amplifier-enabled status bit
M540->Y:$0002C0,0,1 ; #5 Background in-position bit
M541->Y:$0002C0,1,1 ; #5 Warning-following error bit
M542->Y:$0002C0,2,1 ; #5 Fatal-following-error bit
M543->Y:$0002C0,3,1 ; #5 Amplifier-fault-error bit
M544->Y:$0002C0,13,1 ; #5 Foreground in-position bit
M545->Y:$0002C0,10,1 ; #5 Home-complete bit
M546->Y:$0002C0,6,1 ; #5 Integrated following error fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit
M548->Y:$0002C0,8,1 ; #5 Phasing error fault bit
M549->Y:$0002C0,9,1 ; #5 Phasing search-in-progress bit
Motor #5 Move Registers
M561->D:$000288 ; #5 Commanded position (1/[Ixx08*32] cts)
M562->D:$00028B ; #5 Actual position (1/[Ixx08*32] cts)
M563->D:$0002C7 ; #5 Target (end) position (1/[Ixx08*32] cts)
M564->D:$0002CC ; #5 Position bias (1/[Ixx08*32] cts)
M566->X:$00029D,0,24,S ; #5 Actual velocity (1/[Ixx09*32] cts/cyc)
M567->D:$00028D ; #5 Present master pos (1/[Ixx07*32] cts)
M568->X:$0002BF,8,16,S ; #5 Filter Output (16-bit DAC bits)
M569->D:$000290 ; #5 Compensation correction (1/[Ixx08*32] cts)
M570->D:$0002B4 ; #5 Present phase position (including fraction)
M571->X:$0002B4,24,S ; #5 Present phase position (counts *Ixx70)
M572->L:$0002D7 ; #5 Variable jog position/distance (cts)
M573->Y:$0002CE,0,24,S ; #5 Encoder home capture position (cts)
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)
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 PMAC Channel 6 (usually for Motor #6)
M601->X:$078105,0,24,S ; ENC6 24-bit counter position
M602->Y:$078102,8,16,S ; DAC6 16-bit analog output
M603->X:$078107,0,24,S ; ENC6 capture/compare position register
M605->Y:$078107,8,16,S ; ADC6 16-bit analog input
M606->Y:$078104,0,24,U ; ENC6 time between counts (SCLK cycles)
M610->X:$078104,10,1 ; ENC6 count-write enable control
M611->X:$078104,11,1 ; EQU6 compare flag latch control