Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 628
M1067->D:$00050D ; #10 Present master pos (1/[Ixx07*32] cts)
M1068->X:$00053F,8,16,S ; #10 Filter Output (16-bit DAC bits)
M1069->D:$000510 ; #10 Compensation correction (1/[Ixx08*32] cts)
M1070->D:$000534 ; #10 Present phase position (including fraction)
M1071->X:$000534,24,S ; #10 Present phase position (counts *Ixx70)
M1072->L:$000557 ; #10 Variable jog position/distance (cts)
M1073->Y:$00054E,0,24,S ; #10 Encoder home capture position (cts)
M1074->D:$00056F ; #10 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1075->X:$000539,8,16,S ; #10 Actual quadrature current
M1076->Y:$000539,8,16,S ; #10 Actual direct current
M1077->X:$00053C,8,16,S ; #10 Quadrature current-loop integrator output
M1078->Y:$00053C,8,16,S ; #10 Direct current-loop integrator output
M1079->X:$00052E,8,16,S ; #10 PID internal filter result (16-bit DAC bits)
M1088->Y:$078209,0,12,U ; IC 2 Ch 2 Compare A fractional count
M1089->Y:$078208,0,12,U ; IC 2 Ch 2 Compare A fractional count
Motor #10 Axis Definition Registers
M1091->L:$00054F ; #10 X/U/A/B/C-Axis scale factor (cts/unit)
M1092->L:$000550 ; #10 Y/V-Axis scale factor (cts/unit)
M1093->L:$000551 ; #10 Z/W-Axis scale factor (cts/unit)
M1094->L:$000552 ; #10 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 3 (usually for Motor #11)
M1101->X:$078211,0,24,S ; ENC3 24-bit counter position
M1102->Y:$078212,8,16,S ; OUT3A command value; DAC or PWM
M1103->X:$078213,0,24,S ; ENC3 captured position
M1104->Y:$078213,8,16,S ; OUT3B command value; DAC or PWM
M1105->Y:$078215,8,16,S ; ADC3A input value
M1106->Y:$078216,8,16,S ; ADC3B input value
M1107->Y:$078214,8,16,S ; OUT3C command value; PFM or PWM
M1108->Y:$078217,0,24,S ; ENC3 compare A position
M1109->X:$078217,0,24,S ; ENC3 compare B position
M1110->X:$078216,0,24,S ; ENC3 compare autoincrement value
M1111->X:$078215,11 ; ENC3 compare initial state write enable
M1112->X:$078215,12 ; ENC3 compare initial state
M1114->X:$078215,14 ; AENA3 output status
M1115->X:$078210,19 ; USER3 flag input status
M1116->X:$078210,9 ; ENC3 compare output value
M1117->X:$078210,11 ; ENC3 capture flag
M1118->X:$078210,8 ; ENC3 count error flag
M1119->X:$078210,14 ; CHC3 input status
M1120->X:$078210,16 ; HMFL3 flag input status
M1121->X:$078210,17 ; PLIM3 flag input status
M1122->X:$078210,18 ; MLIM3 flag input status
M1123->X:$078210,15 ; FAULT3 flag input status
M1124->X:$078210,20 ; Channel 3 W flag input status
M1125->X:$078210,21 ; Channel 3 V flag input status
M1126->X:$078210,22 ; Channel 3 U flag input status
M1127->X:$078210,23 ; Channel 3 T flag input status
M1128->X:$078210,20,4 ; Channel 3 TUVW inputs as 4-bit value