Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 680
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
MACRO IC 0 Node 1 Flag Registers (usually used for Motor #2)
M250->X:$003441,0,24 ; MACRO IC 0 Node 1 flag status register
M251->Y:$003441,0,24 ; MACRO IC 0 Node 1 flag command register
M253->X:$003441,20,4 ; MACRO IC 0 Node 1 TUVW flags
M254->Y:$003441,14,1 ; MACRO IC 0 Node 1 amplifier enable flag
M255->X:$003441,15,1 ; MACRO IC 0 Node 1 node/amplifier fault flag
M256->X:$003441,16,1 ; MACRO IC 0 Node 1 home flag
M257->X:$003441,17,1 ; MACRO IC 0 Node 1 positive limit flag
M258->X:$003441,18,1 ; MACRO IC 0 Node 1 negative limit flag
M259->X:$003441,19,1 ; MACRO IC 0 Node 1 user flag
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
M279->X:$00012E,8,16,S ; #2 PID internal filter result (16-bit DAC bits)
M288->Y:$078209,0,12,U ; IC 2 Ch 2 Compare A fractional count
M289->Y:$078208,0,12,U ; IC 2 Ch 2 Compare B fractional count