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# M variables definition for commanded and actual acceleration and speed

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Dear all,

I can read out the actual speed via varible M166, that has the next address:

M166->x:\$9D,24,S

Hence, I would like to dedicate certain M variables in order to read both commanded and actual speed and acceleration.

How to do this?

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Hello Corto,

Registers for that data are listed in the memory map in the Turbo PMAC SRM manual:

Page 493 (prints as 475):

D:\$000x84/04 Motor present desired acceleration (X-register units

6/[ixx08*32] cts/msec2 at %100; Y is fractional)

Mot #1 is at D:\$84.

D:\$000x86/06 Motor present desired velocity (X-register units

3/[ixx08*32] cts/msec at %100; Y is fractional)

Mot #1 is at D:\$86.

There is no register holding actual acceleration. One method to get this is to bring actual velocity into the encoder conversion table as a timebase entry, scale factor = 1, and divide the result by one servo cycle.

Note that all these values can be plotted using Quick Plot in PMAC Plot Pro2.

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Hi Gregs,

Correctly if I am wrong, if I want to address one of the available M variables , like for example M33, to point to the register of motor one that indicates desired velocity I should do it like this:

M33->D:\$000x86/06

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No, it would be M33->D:\$86. x takes on different values, depending on what motor is addressed, and the last two digits are either 86 or 06, again depending on what motor is to be addressed.

Correctly if I am wrong, if I want to address one of the available M variables , like for example M33, to point to the register of motor one that indicates desired velocity I should do it like this:

M33->D:\$000x86/06

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