Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 684
M469->D:$000210 ; #4 Compensation correction (1/[Ixx08*32] cts)
M470->D:$000234 ; #4 Present phase position (including fraction)
M471->X:$000234,24,S ; #4 Present phase position (counts *Ixx70)
M472->L:$000257 ; #4 Variable jog position/distance (cts)
M473->Y:$00024E,0,24,S ; #4 Encoder home capture position (cts)
M474->D:$00026F ; #4 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M475->X:$000239,8,16,S ; #4 Actual quadrature current
M476->Y:$000239,8,16,S ; #4 Actual direct current
M477->X:$00023C,8,16,S ; #4 Quadrature current-loop integrator output
M478->Y:$00023C,8,16,S ; #4 Direct current-loop integrator output
M479->X:$00022E,8,16,S ; #4 PID internal filter result (16-bit DAC bits)
M488->Y:$078219,0,12,U ; IC 2 Ch 4 Compare A fractional count
M489->Y:$078218,0,12,U ; IC 2 Ch 4 Compare B fractional count
Motor #4 Axis Definition Registers
M491->L:$00024F ; #4 X/U/A/B/C-Axis scale factor (cts/unit)
M492->L:$000250 ; #4 Y/V-Axis scale factor (cts/unit)
M493->L:$000251 ; #4 Z/W-Axis scale factor (cts/unit)
M494->L:$000252 ; #4 Axis offset (cts)
Servo IC 3 Channel 1 Registers (usually for Motor #5)
M501->X:$078301,0,24,S ; ENC5 24-bit counter position
M502->Y:$078302,8,16,S ; OUT5A command value; DAC or PWM
M503->X:$078303,0,24,S ; ENC5 captured position
M504->Y:$078303,8,16,S ; OUT5B command value; DAC or PWM
M505->Y:$078305,8,16,S ; ADC5A input value
M506->Y:$078306,8,16,S ; ADC5B input value
M507->Y:$078304,8,16,S ; OUT5C command value; PFM or PWM
M508->Y:$078307,0,24,S ; ENC5 compare A position
M509->X:$078307,0,24,S ; ENC5 compare B position
M510->X:$078306,0,24,S ; ENC5 compare autoincrement value
M511->X:$078305,11 ; ENC5 compare initial state write enable
M512->X:$078305,12 ; ENC5 compare initial state
M514->X:$078305,14 ; AENA5 output status
M515->X:$078300,19 ; USER5 flag input status
M516->X:$078300,9 ; ENC5 compare output value
M517->X:$078300,11 ; ENC5 capture flag
M518->X:$078300,8 ; ENC5 count error flag
M519->X:$078300,14 ; CHC5 input status
M520->X:$078300,16 ; HMFL5 flag input status
M521->X:$078300,17 ; PLIM5 flag input status
M522->X:$078300,18 ; MLIM5 flag input status
M523->X:$078300,15 ; FAULT5 flag input status
M524->X:$078300,20 ; Channel 5 W flag input status
M525->X:$078300,21 ; Channel 5 V flag input status
M526->X:$078300,22 ; Channel 5 U flag input status
M527->X:$078300,23 ; Channel 5 T flag input status
M528->X:$078300,20,4 ; Channel 5 TUVW inputs as 4-bit value
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