Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 642
M1926->X:$079210,22 ; Channel 3 U flag input status
M1927->X:$079210,23 ; Channel 3 T flag input status
M1928->X:$079210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #19 Status Bits
M1930->Y:$0009C0,11,1 ; #19 Stopped-on-position-limit bit
M1931->X:$0009B0,21,1 ; #19 Positive-end-limit-set bit
M1932->X:$0009B0,22,1 ; #19 Negative-end-limit-set bit
M1933->X:$0009B0,13,1 ; #19 Desired-velocity-zero bit
M1935->X:$0009B0,15,1 ; #19 Dwell-in-progress bit
M1937->X:$0009B0,17,1 ; #19 Running-program bit
M1938->X:$0009B0,18,1 ; #19 Open-loop-mode bit
M1939->X:$0009B0,19,1 ; #19 Amplifier-enabled status bit
M1940->Y:$0009C0,0,1 ; #19 Background in-position bit
M1941->Y:$0009C0,1,1 ; #19 Warning-following error bit
M1942->Y:$0009C0,2,1 ; #19 Fatal-following-error bit
M1943->Y:$0009C0,3,1 ; #19 Amplifier-fault-error bit
M1944->Y:$0009C0,13,1 ; #19 Foreground in-position bit
M1945->Y:$0009C0,10,1 ; #19 Home-complete bit
M1946->Y:$0009C0,6,1 ; #19 Integrated following error fault bit
M1947->Y:$0009C0,5,1 ; #19 I2T fault bit
M1948->Y:$0009C0,8,1 ; #19 Phasing error fault bit
M1949->Y:$0009C0,9,1 ; #19 Phasing search-in-progress bit
MACRO IC 2 Node 4 Flag Registers (usually used for Motor #19)
M1950->X:$003464,0,24 ; MACRO IC 2 Node 4 flag status register
M1951->Y:$003464,0,24 ; MACRO IC 2 Node 4 flag command register
M1953->X:$003464,20,4 ; MACRO IC 2 Node 4 TUVW flags
M1954->Y:$003464,14,1 ; MACRO IC 2 Node 4 amplifier enable flag
M1955->X:$003464,15,1 ; MACRO IC 2 Node 4 node/amplifier fault flag
M1956->X:$003464,16,1 ; MACRO IC 2 Node 4 home flag
M1957->X:$003464,17,1 ; MACRO IC 2 Node 4 positive limit flag
M1958->X:$003464,18,1 ; MACRO IC 2 Node 4 negative limit flag
M1959->X:$003464,19,1 ; MACRO IC 2 Node 4 user flag
Motor #19 Move Registers
M1961->D:$000988 ; #19 Commanded position (1/[Ixx08*32] cts)
M1962->D:$00098B ; #19 Actual position (1/[Ixx08*32] cts)
M1963->D:$0009C7 ; #19 Target (end) position (1/[Ixx08*32] cts)
M1964->D:$0009CC ; #19 Position bias (1/[Ixx08*32] cts)
M1966->X:$00099D,0,24,S ; #19 Actual velocity (1/[Ixx09*32] cts/cyc)
M1967->D:$00098D ; #19 Present master pos (1/[Ixx07*32] cts)
M1968->X:$0009BF,8,16,S ; #19 Filter Output (16-bit DAC bits)
M1969->D:$000990 ; #19 Compensation correction (1/[Ixx08*32] cts)
M1970->D:$0009B4 ; #19 Present phase position (including fraction)
M1971->X:$0009B4,24,S ; #19 Present phase position (counts *Ixx70)
M1972->L:$0009D7 ; #19 Variable jog position/distance (cts)
M1973->Y:$0009CE,0,24,S ; #19 Encoder home capture position (cts)
M1974->D:$0009EF ; #19 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1975->X:$0009B9,8,16,S ; #19 Actual quadrature current
M1976->Y:$0009B9,8,16,S ; #19 Actual direct current
M1977->X:$0009BC,8,16,S ; #19 Quadrature current-loop integrator output
M1978->Y:$0009BC,8,16,S ; #19 Direct current-loop integrator output
M1979->X:$0009AE,8,16,S ; #19 PID internal filter result (16-bit DAC bits)