Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 685
M535->X:$0002B0,15,1 ; #5 Dwell-in-progress bit
M537->X:$0002B0,17,1 ; #5 Running-program bit
M538->X:$0002B0,18,1 ; #5 Open-loop-mode bit
M539->X:$0002B0,19,1 ; #5 Amplifier-enabled status bit
M540->Y:$0002C0,0,1 ; #5 Background in-position bit
M541->Y:$0002C0,1,1 ; #5 Warning-following error bit
M542->Y:$0002C0,2,1 ; #5 Fatal-following-error bit
M543->Y:$0002C0,3,1 ; #5 Amplifier-fault-error bit
M544->Y:$0002C0,13,1 ; #5 Foreground in-position bit
M545->Y:$0002C0,10,1 ; #5 Home-complete bit
M546->Y:$0002C0,6,1 ; #5 Integrated following error fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit
M548->Y:$0002C0,8,1 ; #5 Phasing error fault bit
M549->Y:$0002C0,9,1 ; #5 Phasing search-in-progress bit
MACRO IC 0 Node 8 Flag Registers (usually used for Motor #5)
M550->X:$003448,0,24 ; MACRO IC 0 Node 8 flag status register
M551->Y:$003448,0,24 ; MACRO IC 0 Node 8 flag command register
M553->X:$003448,20,4 ; MACRO IC 0 Node 8 TUVW flags
M554->Y:$003448,14,1 ; MACRO IC 0 Node 8 amplifier enable flag
M555->X:$003448,15,1 ; MACRO IC 0 Node 8 node/amplifier fault flag
M556->X:$003448,16,1 ; MACRO IC 0 Node 8 home flag
M557->X:$003448,17,1 ; MACRO IC 0 Node 8 positive limit flag
M558->X:$003448,18,1 ; MACRO IC 0 Node 8 negative limit flag
M559->X:$003448,19,1 ; MACRO IC 0 Node 8 user flag
Motor #5 Move Registers
M561->D:$000288 ; #5 Commanded position (1/[Ixx08*32] cts)
M562->D:$00028B ; #5 Actual position (1/[Ixx08*32] cts)
M563->D:$0002C7 ; #5 Target (end) position (1/[Ixx08*32] cts)
M564->D:$0002CC ; #5 Position bias (1/[Ixx08*32] cts)
M566->X:$00029D,0,24,S ; #5 Actual velocity (1/[Ixx09*32] cts/cyc)
M567->D:$00028D ; #5 Present master pos (1/[Ixx07*32] cts)
M568->X:$0002BF,8,16,S ; #5 Filter Output (16-bit DAC bits)
M569->D:$000290 ; #5 Compensation correction (1/[Ixx08*32] cts)
M570->D:$0002B4 ; #5 Present phase position (including fraction)
M571->X:$0002B4,24,S ; #5 Present phase position (counts *Ixx70)
M572->L:$0002D7 ; #5 Variable jog position/distance (cts)
M573->Y:$0002CE,0,24,S ; #5 Encoder home capture position (cts)
M574->D:$0002EF ; #5 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M575->X:$0002B9,8,16,S ; #5 Actual quadrature current
M576->Y:$0002B9,8,16,S ; #5 Actual direct current
M577->X:$0002BC,8,16,S ; #5 Quadrature current-loop integrator output
M578->Y:$0002BC,8,16,S ; #5 Direct current-loop integrator output
M579->X:$0002AE,8,16,S ; #5 PID internal filter result (16-bit DAC bits)
M588->Y:$078301,0,12,U ; IC 3 Ch 1 Compare A fractional count
M589->Y:$078300,0,12,U ; IC 3 Ch 1 Compare B fractional count
Motor #5 Axis Definition Registers
M591->L:$0002CF ; #5 X/U/A/B/C-Axis scale factor (cts/unit)
M592->L:$0002D0 ; #5 Y/V-Axis scale factor (cts/unit)
M593->L:$0002D1 ; #5 Z/W-Axis scale factor (cts/unit)
M594->L:$0002D2 ; #5 Axis offset (cts)