Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 587
M2317->X:$079308,17,1 ; ENC7 position-captured flag
M2318->X:$079308,18,1 ; ENC7 Count-error flag
M2319->X:$079308,19,1 ; ENC7 3rd channel input status
M2320->X:$079308,20,1 ; HMFL7 input status
M2321->X:$079308,21,1 ; -LIM7 (positive end) input status
M2322->X:$079308,22,1 ; +LIM7 (negative end) input status
M2323->X:$079308,23,1 ; FAULT7 input status
Motor #23 Status Bits
M2330->Y:$000BC0,11,1 ; #23 Stopped-on-position-limit bit
M2331->X:$000BB0,21,1 ; #23 Positive-end-limit-set bit
M2332->X:$000BB0,22,1 ; #23 Negative-end-limit-set bit
M2333->X:$000BB0,13,1 ; #23 Desired-velocity-zero bit
M2335->X:$000BB0,15,1 ; #23 Dwell-in-progress bit
M2337->X:$000BB0,17,1 ; #23 Running-program bit
M2338->X:$000BB0,18,1 ; #23 Open-loop-mode bit
M2339->X:$000BB0,19,1 ; #23 Amplifier-enabled status bit
M2340->Y:$000BC0,0,1 ; #23 Background in-position bit
M2341->Y:$000BC0,1,1 ; #23 Warning-following error bit
M2342->Y:$000BC0,2,1 ; #23 Fatal-following-error bit
M2343->Y:$000BC0,3,1 ; #23 Amplifier-fault-error bit
M2344->Y:$000BC0,13,1 ; #23 Foreground in-position bit
M2345->Y:$000BC0,10,1 ; #23 Home-complete bit
M2346->Y:$000BC0,6,1 ; #23 Integrated following error fault bit
M2347->Y:$000BC0,5,1 ; #23 I2T fault bit
M2348->Y:$000BC0,8,1 ; #23 Phasing error fault bit
M2349->Y:$000BC0,9,1 ; #23 Phasing search-in-progress bit
Motor #23 Move Registers
M2361->D:$000B88 ; #23 Commanded position (1/[Ixx08*32] cts)
M2362->D:$000B8B ; #23 Actual position (1/[Ixx08*32] cts)
M2363->D:$000BC7 ; #23 Target (end) position (1/[Ixx08*32] cts)
M2364->D:$000BCC ; #23 Position bias (1/[Ixx08*32] cts)
M2366->X:$000B9D,0,24,S ; #23 Actual velocity (1/[Ixx09*32] cts/cyc)
M2367->D:$000B8D ; #23 Present master pos (1/[Ixx07*32] cts)
M2368->X:$000BBF,8,16,S ; #23 Filter Output (16-bit DAC bits)
M2369->D:$000B90 ; #23 Compensation correction (1/[Ixx08*32] cts)
M2370->D:$000BB4 ; #23 Present phase position (including fraction)
M2371->X:$000BB4,24,S ; #23 Present phase position (counts *Ixx70)
M2372->L:$000BD7 ; #23 Variable jog position/distance (cts)
M2373->Y:$000BCE,0,24,S ; #23 Encoder home capture position (cts)
M2374->D:$000BEF ; #23 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2375->X:$000BB9,8,16,S ; #23 Actual quadrature current
M2376->Y:$000BB9,8,16,S ; #23 Actual direct current
M2377->X:$000BBC,8,16,S ; #23 Quadrature current-loop integrator output
M2378->Y:$000BBC,8,16,S ; #23 Direct current-loop integrator output
M2379->X:$000BAE,8,16,S ; #23 PID internal filter result (16-bit DAC bits)
Motor #23 Axis Definition Registers
M2391->L:$000BCF ; #23 X/U/A/B/C-Axis scale factor (cts/unit)
M2392->L:$000BD0 ; #23 Y/V-Axis scale factor (cts/unit)
M2393->L:$000BD1 ; #23 Z/W-Axis scale factor (cts/unit)
M2394->L:$000BD2 ; #23 Axis offset (cts)