Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 723
M2854->Y:$003475,14,1 ; MACRO IC 3 Node 5 amplifier enable flag
M2855->X:$003475,15,1 ; MACRO IC 3 Node 5 node/amplifier fault flag
M2856->X:$003475,16,1 ; MACRO IC 3 Node 5 home flag
M2857->X:$003475,17,1 ; MACRO IC 3 Node 5 positive limit flag
M2858->X:$003475,18,1 ; MACRO IC 3 Node 5 negative limit flag
M2859->X:$003475,19,1 ; MACRO IC 3 Node 5 user flag
Motor #28 Move Registers
M2861->D:$000E08 ; #28 Commanded position (1/[Ixx08*32] cts)
M2862->D:$000E0B ; #28 Actual position (1/[Ixx08*32] cts)
M2863->D:$000E47 ; #28 Target (end) position (1/[Ixx08*32] cts)
M2864->D:$000E4C ; #28 Position bias (1/[Ixx08*32] cts)
M2866->X:$000E1D,0,24,S ; #28 Actual velocity (1/[Ixx09*32] cts/cyc)
M2867->D:$000E0D ; #28 Present master pos (1/[Ixx07*32] cts)
M2868->X:$000E3F,8,16,S ; #28 Filter Output (16-bit DAC bits)
M2869->D:$000E10 ; #28 Compensation correction (1/[Ixx08*32] cts)
M2870->D:$000E34 ; #28 Present phase position (including fraction)
M2871->X:$000E34,24,S ; #28 Present phase position (counts *Ixx70)
M2872->L:$000E57 ; #28 Variable jog position/distance (cts)
M2873->Y:$000E4E,0,24,S ; #28 Encoder home capture position (cts)
M2874->D:$000E6F ; #28 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2875->X:$000E39,8,16,S ; #28 Actual quadrature current
M2876->Y:$000E39,8,16,S ; #28 Actual direct current
M2877->X:$000E3C,8,16,S ; #28 Quadrature current-loop integrator output
M2878->Y:$000E3C,8,16,S ; #28 Direct current-loop integrator output
M2879->X:$000E2E,8,16,S ; #28 PID internal filter result (16-bit DAC bits)
M2888->Y:$07B219,0,12,U ; IC 8 Ch 4 Compare A fractional count
M2889->Y:$07B218,0,12,U ; IC 8 Ch 4 Compare B fractional count
Motor #28 Axis Definition Registers
M2891->L:$000E4F ; #28 X/U/A/B/C-Axis scale factor (cts/unit)
M2892->L:$000E50 ; #28 Y/V-Axis scale factor (cts/unit)
M2893->L:$000E51 ; #28 Z/W-Axis scale factor (cts/unit)
M2894->L:$000E52 ; #28 Axis offset (cts)
Servo IC 9 Channel 1 Registers (usually for Motor #29)
M2901->X:$07B301,0,24,S ; ENC5 24-bit counter position
M2902->Y:$07B302,8,16,S ; OUT5A command value; DAC or PWM
M2903->X:$07B303,0,24,S ; ENC5 captured position
M2904->Y:$07B303,8,16,S ; OUT5B command value; DAC or PWM
M2905->Y:$07B305,8,16,S ; ADC5A input value
M2906->Y:$07B306,8,16,S ; ADC5B input value
M2907->Y:$07B304,8,16,S ; OUT5C command value; PFM or PWM
M2908->Y:$07B307,0,24,S ; ENC5 compare A position
M2909->X:$07B307,0,24,S ; ENC5 compare B position
M2910->X:$07B306,0,24,S ; ENC5 compare autoincrement value
M2911->X:$07B305,11 ; ENC5 compare initial state write enable
M2912->X:$07B305,12 ; ENC5 compare initial state
M2914->X:$07B305,14 ; AENA5 output status
M2915->X:$07B300,19 ; USER5 flag input status
M2916->X:$07B300,9 ; ENC5 compare output value
M2917->X:$07B300,11 ; ENC5 capture flag
M2918->X:$07B300,8 ; ENC5 count error flag
M2919->X:$07B300,14 ; CHC5 input status