PMAC Quick Reference Guide PMAC Position Registers The PMAC Executive position window or the online command P reports the value of the actual position register plus the position bias register plus the compensation correction register and if bit 16 of Ix05 is 1 (handwheel offset mode) minus the master position register:
M175->X:$002A,16,1 ; Bit 16 of I105 M162->D:$002B ; #1 Actual position (1/[Ix08*32] cts) M164->D:$0813 ; #1 Position bias (1/[Ix08*32] cts) M167->D:$002D ; #1 Present master ((handwheel) pos (1/[Ix07*32] cts ; of master or (1/[Ix08*32] cts of slaved motor) M169->D:$0046 ; #1 Compensation correction M167) * M175 M169 M164 (M162 P100 − + + = P100 will report the same value as the online command P or the position window in the PMAC Executive program. 32 * I108 The addresses given are for Motor #1.
For the registers for another motor x add (x-1)* $3C – (x-1)*60 – to the appropriate motor #1 address.) M161->D:$0028 ; #1 Commanded position (1/[Ix08*32] cts) The motor commanded position registers contain the value in counts where the motor is commanded to move. It is set through JOG online commands or axis move commands ( X10 ) inside motion programs. To read this register in counts: P161 = M161 / (I108*32) M162->D:$002B ; #1 Actual position (1/[Ix08*32] cts) The actual position register contains the information read from the feedback sensor after it has been converted properly through the encoder conversion table and extended from a 24-bits register to a 48-bits register.
To read this register in counts: P162 = M162 / (I108*32) M163->D:$080B ; #1 Target (end) position (1/[Ix08*32] cts) This register contains the most recent programmed position and it is called the target position register. If I13>0, PMAC is in segmentation mode and the value of M163 corresponds to the last interpolated point calculated. To read this register in counts: P163 = M163 / (I108*32) M164->D:$0813 ; #1 Position bias (1/[Ix08*32] cts) • This register contains the offset specified in the axis definition command #1->X + . • The online command {axis}={constant} or the motion program command PSET adds the specified offset to the existing M164 offset: M164 = M164 + .
To read this register in counts: P164 = M164 / (I108*32) M165->L:$081F ; &1 X-axis target position (engineering units) M165 contains the programmed axis position through a motion program, X10 for example, in engineering units. It also gets updated by the online command “ {axis}={constant} ” or the motion program command PSET . M166->X:$0033,0,24,S ; #1 Actual velocity (1/[Ix09*32] cts/cyc) M166 is the actual velocity register. For display purposes use the Motor filtered actual velocity, M174. To read this register in cts/msec:
P166 = M166 * 8388608 / (I109 * 32 * I10 * (I160+1)) M167->D:$002D ; #1 Present master ((handwheel) pos (1/[Ix07*32] cts ; of master or (1/[Ix08*32] cts of slaved motor) 40 Programming PMAC