Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 575
M1339->X:$0006B0,19,1 ; #13 Amplifier-enabled status bit
M1340->Y:$0006C0,0,1 ; #13 Background in-position bit
M1341->Y:$0006C0,1,1 ; #13 Warning-following error bit
M1342->Y:$0006C0,2,1 ; #13 Fatal-following-error bit
M1343->Y:$0006C0,3,1 ; #13 Amplifier-fault-error bit
M1344->Y:$0006C0,13,1 ; #13 Foreground in-position bit
M1345->Y:$0006C0,10,1 ; #13 Home-complete bit
M1346->Y:$0006C0,6,1 ; #13 Integrated following error fault bit
M1347->Y:$0006C0,5,1 ; #13 I2T fault bit
M1348->Y:$0006C0,8,1 ; #13 Phasing error fault bit
M1349->Y:$0006C0,9,1 ; #13 Phasing search-in-progress bit
Motor #13 Move Registers
M1361->D:$000688 ; #13 Commanded position (1/[Ixx08*32] cts)
M1362->D:$00068B ; #13 Actual position (1/[Ixx08*32] cts)
M1363->D:$0006C7 ; #13 Target (end) position (1/[Ixx08*32] cts)
M1364->D:$0006CC ; #13 Position bias (1/[Ixx08*32] cts)
M1366->X:$00069D,0,24,S ; #13 Actual velocity (1/[Ixx09*32] cts/cyc)
M1367->D:$00068D ; #13 Present master pos (1/[Ixx07*32] cts)
M1368->X:$0006BF,8,16,S ; #13 Filter Output (16-bit DAC bits)
M1369->D:$000690 ; #13 Compensation correction (1/[Ixx08*32] cts)
M1370->D:$0006B4 ; #13 Present phase position (including fraction)
M1371->X:$0006B4,24,S ; #13 Present phase position (counts *Ixx70)
M1372->L:$0006D7 ; #13 Variable jog position/distance (cts)
M1373->Y:$0006CE,0,24,S ; #13 Encoder home capture position (cts)
M1374->D:$0006EF ; #13 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1375->X:$0006B9,8,16,S ; #13 Actual quadrature current
M1376->Y:$0006B9,8,16,S ; #13 Actual direct current
M1377->X:$0006BC,8,16,S ; #13 Quadrature current-loop integrator output
M1378->Y:$0006BC,8,16,S ; #13 Direct current-loop integrator output
M1379->X:$0006AE,8,16,S ; #13 PID internal filter result (16-bit DAC bits)
Motor #13 Axis Definition Registers
M1391->L:$0006CF ; #13 X/U/A/B/C-Axis scale factor (cts/unit)
M1392->L:$0006D0 ; #13 Y/V-Axis scale factor (cts/unit)
M1393->L:$0006D1 ; #13 Z/W-Axis scale factor (cts/unit)
M1394->L:$0006D2 ; #13 Axis offset (cts)
Servo IC 3 Registers for First Acc-24 Channel 6 (usually for Motor #14)
M1401->X:$078305,0,24,S ; ENC6 24-bit counter position
M1402->Y:$078302,8,16,S ; DAC6 16-bit analog output
M1403->X:$078307,0,24,S ; ENC6 capture/compare position register
M1405->Y:$078307,8,16,S ; ADC6 16-bit analog input
M1406->Y:$078304,0,24,U ; ENC6 time between counts (SCLK cycles)
M1410->X:$078304,10,1 ; ENC6 count-write enable control
M1411->X:$078304,11,1 ; EQU6 compare flag latch control
M1412->X:$078304,12,1 ; EQU6 compare output enable
M1413->X:$078304,13,1 ; EQU6 compare invert enable
M1414->X:$078304,14,1 ; AENA6/DIR6 Output
M1416->X:$078304,16,1 ; EQU6 compare flag
M1417->X:$078304,17,1 ; ENC6 position-captured flag
M1418->X:$078304,18,1 ; ENC6 Count-error flag
M1419->X:$078304,19,1 ; ENC6 3rd channel input status
M1420->X:$078304,20,1 ; HMFL6 input status