PMAC Quick Reference Guide
Appendix E – Motor Suggested M-Variable Definitions 93
Motor Move
Registers
Motor #1 Motor #2 Motor #3 Motor #4 Motor #5 Motor #6 Motor #7 Motor #8
Commanded position
(1/[Ix08*32] cts
M161->D:$0028 M261->D:$0064 M361->D:$00A0 M461->D:$00DC M561->D:$0118 M661->D:$0154 M761->D:$0190 M861->D:$01CC
Actual position
(1/[Ix08*32] cts)
M162->D:$002B M262->D:$0067 M362->D:$00A3 M462->D:$00DF M562->D:$011B M662->D:$0157 M762->D:$0193 M862->D:$01CF
Target (end) position
(1/[Ix08*32]
M163->D:$080B M263->D:$08CB M363->D:$098B M463->D:$0A4B M563->D:$0B0B M663->D:$0BCB M763->D:$0C8B M863->D:$0D4B
Position bias
(1/[Ix08*32] cts)
M164->D:$0813 M264->D:$08D3 M364->D:$0993 M464->D:$0A53 M564->D:$0B13 M664->D:$0BD3 M764->D:$0C93 M864->D:$0D53
X-axis target position
(engineering units)
M165->L:$081F M265->L:$0820 M365->L:$0821 M465->L:$0819 M565->L:$081A M665->L:$081B M765->L:$081C M865->L:$081D
Actual velocity
(1/[Ix09*32] cts/cyc)
M166-
>X:$0033,0,24,S
M266-
>X:$006F,0,24,S
M366-
>X:$00AB,0,24,S
M466-
>X:$00E7,0,24,S
M566-
>X:$0123,0,24,S
M666-
>X:$015F,0,24,S
M766-
>X:$019B,0,24,S
M866-
>X:$01D7,0,24,S
Present master
(handwheel) pos
(1/[Ix07*32] cts)
M167->D:$002D M267->D:$0069 M367->D:$00A5 M467->D:$00E1 M567->D:$011D M667->D:$0159 M767->D:$0195 M867->D:$01D1
Filter Output (DAC
bits)
M168-
>X:$0045,8,16,S
M268-
>X:$0081,8,16,S
M368-
>X:$00BD,8,16,S
M468-
>X:$00F9,8,16,S
M568-
>X:$0135,8,16,S
M668-
>X:$0171,8,16,S
M768-
>X:$01AD,8,16,S
M868-
>X:$01E9,8,16,S
Compensation
correction
M169->D:$0046 M269->D:$0082 M369->D:$00BE M469->D:$00FA M569->D:$0136 M669->D:$0172 M769->D:$01AE M869->D:$01EA
Present phase pos.
includes fraction in Y-
register
M170->D:$0041 M270->D:$007D M370->D:$00B9 M470->D:$00F5 M570->D:$0131 M670->D:$016D M770->D:$01A9 M870->D:$01E5
Present phase position
(counts*Ix70)
M171-
>X:$0041,0,24,S
M271-
>X:$007D,0,24,S
M371-
>X:$00B9,0,24,S
M471-
>X:$00F5,0,24,S
M571-
>X:$0131,0,24,S
M671-
>X:$016D,0,24,S
M771-
>X:$01A9,0,24,S
M871-
>X:$01E5,0,24,S
Variable jog
position/distance (counts)
M172->L:$082B M272->L:$08EB M372->L:$09AB M472->L:$0A6B M572->L:$0B2B M672->L:$0BEB M772->L:$0CAB M872->L:$0D6B
Encoder home capture
offset (counts)
M173-
>Y:$0815,0,24,S
M273-
>Y:$08D5,0,24,S
M373-
>Y:$0995,0,24,S
M473-
>Y:$0A55,0,24,S
M573-
>Y:$0B15,0,24,S
M673-
>Y:$0BD5,0,24,S
M773-
>Y:$0C95,0,24,S
M873-
>Y:$0D55,0,24,S
filtered actual vel.
(1/[Ix09*32] cts/servo
cycle)
M174-
>Y:$082A,0,24,S
M274-
>Y:$08EA,0,24,S
M374-
>Y:$09AA,0,24,S
M474-
>Y:$0A6A,0,24,S
M574-
>Y:$0B2A,0,24,S
M674-
>Y:$0BEA,0,24,
S
M774-
>Y:$0CAA,0,24,
S
M874-
>Y:$0D6A,0,24,S
Motor #1 following
error (1/[Ix08*32] cts)
M175->D:$0840 M275->D:$0900 M375->D:$09C0 M475->D:$0A80 M575->D:$0B40 M675->D:$0C00 M775->D:$0CC0 M875->D:$0D80
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