Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 655
M2720->X:$07A210,16 ; HMFL3 flag input status
M2721->X:$07A210,17 ; PLIM3 flag input status
M2722->X:$07A210,18 ; MLIM3 flag input status
M2723->X:$07A210,15 ; FAULT3 flag input status
M2724->X:$07A210,20 ; Channel 3 W flag input status
M2725->X:$07A210,21 ; Channel 3 V flag input status
M2726->X:$07A210,22 ; Channel 3 U flag input status
M2727->X:$07A210,23 ; Channel 3 T flag input status
M2728->X:$07A210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #27 Status Bits
M2730->Y:$000DC0,11,1 ; #27 Stopped-on-position-limit bit
M2731->X:$000DB0,21,1 ; #27 Positive-end-limit-set bit
M2732->X:$000DB0,22,1 ; #27 Negative-end-limit-set bit
M2733->X:$000DB0,13,1 ; #27 Desired-velocity-zero bit
M2735->X:$000DB0,15,1 ; #27 Dwell-in-progress bit
M2737->X:$000DB0,17,1 ; #27 Running-program bit
M2738->X:$000DB0,18,1 ; #27 Open-loop-mode bit
M2739->X:$000DB0,19,1 ; #27 Amplifier-enabled status bit
M2740->Y:$000DC0,0,1 ; #27 Background in-position bit
M2741->Y:$000DC0,1,1 ; #27 Warning-following error bit
M2742->Y:$000DC0,2,1 ; #27 Fatal-following-error bit
M2743->Y:$000DC0,3,1 ; #27 Amplifier-fault-error bit
M2744->Y:$000DC0,13,1 ; #27 Foreground in-position bit
M2745->Y:$000DC0,10,1 ; #27 Home-complete bit
M2746->Y:$000DC0,6,1 ; #27 Integrated following error fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2748->Y:$000DC0,8,1 ; #27 Phasing error fault bit
M2749->Y:$000DC0,9,1 ; #27 Phasing search-in-progress bit
MACRO IC 3 Node 4 Flag Registers (usually used for Motor #27)
M2750->X:$003474,0,24 ; MACRO IC 3 Node 4 flag status register
M2751->Y:$003474,0,24 ; MACRO IC 3 Node 4 flag command register
M2753->X:$003474,20,4 ; MACRO IC 3 Node 4 TUVW flags
M2754->Y:$003474,14,1 ; MACRO IC 3 Node 4 amplifier enable flag
M2755->X:$003474,15,1 ; MACRO IC 3 Node 4 node/amplifier fault flag
M2756->X:$003474,16,1 ; MACRO IC 3 Node 4 home flag
M2757->X:$003474,17,1 ; MACRO IC 3 Node 4 positive limit flag
M2758->X:$003474,18,1 ; MACRO IC 3 Node 4 negative limit flag
M2759->X:$003474,19,1 ; MACRO IC 3 Node 4 user flag
Motor #27 Move Registers
M2761->D:$000D88 ; #27 Commanded position (1/[Ixx08*32] cts)
M2762->D:$000D8B ; #27 Actual position (1/[Ixx08*32] cts)
M2763->D:$000DC7 ; #27 Target (end) position (1/[Ixx08*32] cts)
M2764->D:$000DCC ; #27 Position bias (1/[Ixx08*32] cts)
M2766->X:$000D9D,0,24,S ; #27 Actual velocity (1/[Ixx09*32] cts/cyc)
M2767->D:$000D8D ; #27 Present master pos (1/[Ixx07*32] cts)
M2768->X:$000DBF,8,16,S ; #27 Filter Output (16-bit DAC bits)
M2769->D:$000D90 ; #27 Compensation correction (1/[Ixx08*32] cts)
M2770->D:$000DB4 ; #27 Present phase position (including fraction)
M2771->X:$000DB4,24,S ; #27 Present phase position (counts *Ixx70)
M2772->L:$000DD7 ; #27 Variable jog position/distance (cts)
M2773->Y:$000DCE,0,24,S ; #27 Encoder home capture position (cts)