Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 561
M206->Y:$078004,0,24,U ; ENC2 time between counts (SCLK cycles)
M210->X:$078004,10,1 ; ENC2 count-write enable control
M211->X:$078004,11,1 ; EQU2 compare flag latch control
M212->X:$078004,12,1 ; EQU2 compare output enable
M213->X:$078004,13,1 ; EQU2 compare invert enable
M214->X:$078004,14,1 ; AENA2/DIR2 Output
M216->X:$078004,16,1 ; EQU2 compare flag
M217->X:$078004,17,1 ; ENC2 position-captured flag
M218->X:$078004,18,1 ; ENC2 Count-error flag
M219->X:$078004,19,1 ; ENC2 3rd channel input status
M220->X:$078004,20,1 ; HMFL2 input status
M221->X:$078004,21,1 ; -LIM2 (positive end) input status
M222->X:$078004,22,1 ; +LIM2 (negative end) input status
M223->X:$078004,23,1 ; FAULT2 input status
Motor #2 Status Bits
M230->Y:$000140,11,1 ; #2 Stopped-on-position-limit bit
M231->X:$000130,21,1 ; #2 Positive-end-limit-set bit
M232->X:$000130,22,1 ; #2 Negative-end-limit-set bit
M233->X:$000130,13,1 ; #2 Desired-velocity-zero bit
M235->X:$000130,15,1 ; #2 Dwell-in-progress bit
M237->X:$000130,17,1 ; #2 Running-program bit
M238->X:$000130,18,1 ; #2 Open-loop-mode bit
M239->X:$000130,19,1 ; #2 Amplifier-enabled status bit
M240->Y:$000140,0,1 ; #2 Background in-position bit
M241->Y:$000140,1,1 ; #2 Warning-following error bit
M242->Y:$000140,2,1 ; #2 Fatal-following-error bit
M243->Y:$000140,3,1 ; #2 Amplifier-fault-error bit
M244->Y:$000140,13,1 ; #2 Foreground in-position bit
M245->Y:$000140,10,1 ; #2 Home-complete bit
M246->Y:$000140,6,1 ; #2 Integrated following error fault bit
M247->Y:$000140,5,1 ; #2 I2T fault bit
M248->Y:$000140,8,1 ; #2 Phasing error fault bit
M249->Y:$000140,9,1 ; #2 Phasing search-in-progress bit
Motor #2 Move Registers
M261->D:$000108 ; #2 Commanded position (1/[Ixx08*32] cts)
M262->D:$00010B ; #2 Actual position (1/[Ixx08*32] cts)
M263->D:$000147 ; #2 Target (end) position (1/[Ixx08*32] cts)
M264->D:$00014C ; #2 Position bias (1/[Ixx08*32] cts)
M266->X:$00011D,0,24,S ; #2 Actual velocity (1/[Ixx09*32] cts/cyc)
M267->D:$00010D ; #2 Present master pos (1/[Ixx07*32] cts)
M268->X:$00013F,8,16,S ; #2 Filter Output (16-bit DAC bits)
M269->D:$000110 ; #2 Compensation correction (1/[Ixx08*32] cts)
M270->D:$000134 ; #2 Present phase position (including fraction)
M271->X:$000134,24,S ; #2 Present phase position (counts *Ixx70)
M272->L:$000157 ; #2 Variable jog position/distance (cts)
M273->Y:$00014E,0,24,S ; #2 Encoder home capture position (cts)
M274->D:$00016F ; #2 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M275->X:$000139,8,16,S ; #2 Actual quadrature current
M276->Y:$000139,8,16,S ; #2 Actual direct current
M277->X:$00013C,8,16,S ; #2 Quadrature current-loop integrator output
M278->Y:$00013C,8,16,S ; #2 Direct current-loop integrator output