Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 629
Motor #11 Status Bits
M1130->Y:$0005C0,11,1 ; #11 Stopped-on-position-limit bit
M1131->X:$0005B0,21,1 ; #11 Positive-end-limit-set bit
M1132->X:$0005B0,22,1 ; #11 Negative-end-limit-set bit
M1133->X:$0005B0,13,1 ; #11 Desired-velocity-zero bit
M1135->X:$0005B0,15,1 ; #11 Dwell-in-progress bit
M1137->X:$0005B0,17,1 ; #11 Running-program bit
M1138->X:$0005B0,18,1 ; #11 Open-loop-mode bit
M1139->X:$0005B0,19,1 ; #11 Amplifier-enabled status bit
M1140->Y:$0005C0,0,1 ; #11 Background in-position bit
M1141->Y:$0005C0,1,1 ; #11 Warning-following error bit
M1142->Y:$0005C0,2,1 ; #11 Fatal-following-error bit
M1143->Y:$0005C0,3,1 ; #11 Amplifier-fault-error bit
M1144->Y:$0005C0,13,1 ; #11 Foreground in-position bit
M1145->Y:$0005C0,10,1 ; #11 Home-complete bit
M1146->Y:$0005C0,6,1 ; #11 Integrated following error fault bit
M1147->Y:$0005C0,5,1 ; #11 I2T fault bit
M1148->Y:$0005C0,8,1 ; #11 Phasing error fault bit
M1149->Y:$0005C0,9,1 ; #11 Phasing search-in-progress bit
MACRO IC 1 Node 4 Flag Registers (usually used for Motor #11)
M1150->X:$003454,0,24 ; MACRO IC 1 Node 4 flag status register
M1151->Y:$003454,0,24 ; MACRO IC 1 Node 4 flag command register
M1153->X:$003454,20,4 ; MACRO IC 1 Node 4 TUVW flags
M1154->Y:$003454,14,1 ; MACRO IC 1 Node 4 amplifier enable flag
M1155->X:$003454,15,1 ; MACRO IC 1 Node 4 node/amplifier fault flag
M1156->X:$003454,16,1 ; MACRO IC 1 Node 4 home flag
M1157->X:$003454,17,1 ; MACRO IC 1 Node 4 positive limit flag
M1158->X:$003454,18,1 ; MACRO IC 1 Node 4 negative limit flag
M1159->X:$003454,19,1 ; MACRO IC 1 Node 4 user flag
Motor #11 Move Registers
M1161->D:$000588 ; #11 Commanded position (1/[Ixx08*32] cts)
M1162->D:$00058B ; #11 Actual position (1/[Ixx08*32] cts)
M1163->D:$0005C7 ; #11 Target (end) position (1/[Ixx08*32] cts)
M1164->D:$0005CC ; #11 Position bias (1/[Ixx08*32] cts)
M1166->X:$00059D,0,24,S ; #11 Actual velocity (1/[Ixx09*32] cts/cyc)
M1167->D:$00058D ; #11 Present master pos (1/[Ixx07*32] cts)
M1168->X:$0005BF,8,16,S ; #11 Filter Output (16-bit DAC bits)
M1169->D:$000590 ; #11 Compensation correction (1/[Ixx08*32] cts)
M1170->D:$0005B4 ; #11 Present phase position (including fraction)
M1171->X:$0005B4,24,S ; #11 Present phase position (counts *Ixx70)
M1172->L:$0005D7 ; #11 Variable jog position/distance (cts)
M1173->Y:$0005CE,0,24,S ; #11 Encoder home capture position (cts)
M1174->D:$0005EF ; #11 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1175->X:$0005B9,8,16,S ; #11 Actual quadrature current
M1176->Y:$0005B9,8,16,S ; #11 Actual direct current
M1177->X:$0005BC,8,16,S ; #11 Quadrature current-loop integrator output
M1178->Y:$0005BC,8,16,S ; #11 Direct current-loop integrator output
M1179->X:$0005AE,8,16,S ; #11 PID internal filter result (16-bit DAC bits)
M1188->Y:$078211,0,12,U ; IC 2 Ch 3 Compare A fractional count
M1189->Y:$078210,0,12,U ; IC 2 Ch 3 Compare A fractional count