Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 598
M3217->X:$07A30C,17,1 ; ENC8 position-captured flag
M3218->X:$07A30C,18,1 ; ENC8 Count-error flag
M3219->X:$07A30C,19,1 ; ENC8 3rd channel input status
M3220->X:$07A30C,20,1 ; HMFL8 input status
M3221->X:$07A30C,21,1 ; -LIM8 (positive end) input status
M3222->X:$07A30C,22,1 ; +LIM8 (negative end) input status
M3223->X:$07A30C,23,1 ; FAULT8 input status
Motor #32 Status Bits
M3230->Y:$001040,11,1 ; #32 Stopped-on-position-limit bit
M3231->X:$001030,21,1 ; #32 Positive-end-limit-set bit
M3232->X:$001030,22,1 ; #32 Negative-end-limit-set bit
M3233->X:$001030,13,1 ; #32 Desired-velocity-zero bit
M3235->X:$001030,15,1 ; #32 Dwell-in-progress bit
M3237->X:$001030,17,1 ; #32 Running-program bit
M3238->X:$001030,18,1 ; #32 Open-loop-mode bit
M3239->X:$001030,19,1 ; #32 Amplifier-enabled status bit
M3240->Y:$001040,0,1 ; #32 Background in-position bit
M3241->Y:$001040,1,1 ; #32 Warning-following error bit
M3242->Y:$001040,2,1 ; #32 Fatal-following-error bit
M3243->Y:$001040,3,1 ; #32 Amplifier-fault-error bit
M3244->Y:$001040,13,1 ; #32 Foreground in-position bit
M3245->Y:$001040,10,1 ; #32 Home-complete bit
M3246->Y:$001040,6,1 ; #32 Integrated following error fault bit
M3247->Y:$001040,5,1 ; #32 I2T fault bit
M3248->Y:$001040,8,1 ; #32 Phasing error fault bit
M3249->Y:$001040,9,1 ; #32 Phasing search-in-progress bit
Motor #32 Move Registers
M3261->D:$001008 ; #32 Commanded position (1/[Ixx08*32] cts)
M3262->D:$00100B ; #32 Actual position (1/[Ixx08*32] cts)
M3263->D:$001047 ; #32 Target (end) position (1/[Ixx08*32] cts)
M3264->D:$00104C ; #32 Position bias (1/[Ixx08*32] cts)
M3266->X:$00101D,0,24,S ; #32 Actual velocity (1/[Ixx09*32] cts/cyc)
M3267->D:$00100D ; #32 Present master pos (1/[Ixx07*32] cts)
M3268->X:$00103F,8,16,S ; #32 Filter Output (16-bit DAC bits)
M3269->D:$001010 ; #32 Compensation correction (1/[Ixx08*32] cts)
M3270->D:$001034 ; #32 Present phase position (including fraction)
M3271->X:$001034,24,S ; #32 Present phase position (counts *Ixx70)
M3272->L:$001057 ; #32 Variable jog position/distance (cts)
M3273->Y:$00104E,0,24,S ; #32 Encoder home capture position (cts)
M3274->D:$00106F ; #32 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3275->X:$001039,8,16,S ; #32 Actual quadrature current
M3276->Y:$001039,8,16,S ; #32 Actual direct current
M3277->X:$00103C,8,16,S ; #32 Quadrature current-loop integrator output
M3278->Y:$00103C,8,16,S ; #32 Direct current-loop integrator output
M3279->X:$00102E,8,16,S ; #32 PID internal filter result (16-bit DAC bits)
Motor #32 Axis Definition Registers
M3291->L:$00104F ; #32 X/U/A/B/C-Axis scale factor (cts/unit)
M3292->L:$001050 ; #32 Y/V-Axis scale factor (cts/unit)
M3293->L:$001051 ; #32 Z/W-Axis scale factor (cts/unit)
M3294->L:$001052 ; #32 Axis offset (cts)