Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 718
M2548->Y:$000CC0,8,1 ; #25 Phasing error fault bit
M2549->Y:$000CC0,9,1 ; #25 Phasing search-in-progress bit
MACRO IC 3 Node 0 Flag Registers (usually used for Motor #25)
M2550->X:$003470,0,24 ; MACRO IC 3 Node 0 flag status register
M2551->Y:$003470,0,24 ; MACRO IC 3 Node 0 flag command register
M2553->X:$003470,20,4 ; MACRO IC 3 Node 0 TUVW flags
M2554->Y:$003470,14,1 ; MACRO IC 3 Node 0 amplifier enable flag
M2555->X:$003470,15,1 ; MACRO IC 3 Node 0 node/amplifier fault flag
M2556->X:$003470,16,1 ; MACRO IC 3 Node 0 home flag
M2557->X:$003470,17,1 ; MACRO IC 3 Node 0 positive limit flag
M2558->X:$003470,18,1 ; MACRO IC 3 Node 0 negative limit flag
M2559->X:$003470,19,1 ; MACRO IC 3 Node 0 user flag
Motor #25 Move Registers
M2561->D:$000C88 ; #25 Commanded position (1/[Ixx08*32] cts)
M2562->D:$000C8B ; #25 Actual position (1/[Ixx08*32] cts)
M2563->D:$000CC7 ; #25 Target (end) position (1/[Ixx08*32] cts)
M2564->D:$000CCC ; #25 Position bias (1/[Ixx08*32] cts)
M2566->X:$000C9D,0,24,S ; #25 Actual velocity (1/[Ixx09*32] cts/cyc)
M2567->D:$000C8D ; #25 Present master pos (1/[Ixx07*32] cts)
M2568->X:$000CBF,8,16,S ; #25 Filter Output (16-bit DAC bits)
M2569->D:$000C90 ; #25 Compensation correction (1/[Ixx08*32] cts)
M2570->D:$000CB4 ; #25 Present phase position (including fraction)
M2571->X:$000CB4,24,S ; #25 Present phase position (counts *Ixx70)
M2572->L:$000CD7 ; #25 Variable jog position/distance (cts)
M2573->Y:$000CCE,0,24,S ; #25 Encoder home capture position (cts)
M2574->D:$000CEF ; #25 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2575->X:$000CB9,8,16,S ; #25 Actual quadrature current
M2576->Y:$000CB9,8,16,S ; #25 Actual direct current
M2577->X:$000CBC,8,16,S ; #25 Quadrature current-loop integrator output
M2578->Y:$000CBC,8,16,S ; #25 Direct current-loop integrator output
M2579->X:$000CAE,8,16,S ; #25 PID internal filter result (16-bit DAC bits)
M2588->Y:$07B201,0,12,U ; IC 8 Ch 1 Compare A fractional count
M2589->Y:$07B200,0,12,U ; IC 8 Ch 1 Compare B fractional count
Motor #25 Axis Definition Registers
M2591->L:$000CCF ; #25 X/U/A/B/C-Axis scale factor (cts/unit)
M2592->L:$000CD0 ; #25 Y/V-Axis scale factor (cts/unit)
M2593->L:$000CD1 ; #25 Z/W-Axis scale factor (cts/unit)
M2594->L:$000CD2 ; #25 Axis offset (cts)
Servo IC 8 Channel 2 Registers (usually for Motor #26)
M2601->X:$07B209,0,24,S ; ENC2 24-bit counter position
M2602->Y:$07B20A,8,16,S ; OUT2A command value; DAC or PWM
M2603->X:$07B20B,0,24,S ; ENC2 captured position
M2604->Y:$07B20B,8,16,S ; OUT2B command value; DAC or PWM
M2605->Y:$07B20D,8,16,S ; ADC2A input value
M2606->Y:$07B20E,8,16,S ; ADC2B input value
M2607->Y:$07B20C,8,16,S ; OUT2C command value; PFM or PWM
M2608->Y:$07B20F,0,24,S ; ENC2 compare A position
M2609->X:$07B20F,0,24,S ; ENC2 compare B position
M2610->X:$07B20E,0,24,S ; ENC2 compare autoincrement value
M2611->X:$07B20D,11 ; ENC2 compare initial state write enable
M2612->X:$07B20D,12 ; ENC2 compare initial state