Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 724
M2920->X:$07B300,16 ; HMFL5 flag input status
M2921->X:$07B300,17 ; PLIM5 flag input status
M2922->X:$07B300,18 ; MLIM5 flag input status
M2923->X:$07B300,15 ; FAULT5 flag input status
M2924->X:$07B300,20 ; Channel 5 W flag input status
M2925->X:$07B300,21 ; Channel 5 V flag input status
M2926->X:$07B300,22 ; Channel 5 U flag input status
M2927->X:$07B300,23 ; Channel 5 T flag input status
M2928->X:$07B300,20,4 ; Channel 5 TUVW inputs as 4-bit value
Motor #29 Status Bits
M2930->Y:$000EC0,11,1 ; #29 Stopped-on-position-limit bit
M2931->X:$000EB0,21,1 ; #29 Positive-end-limit-set bit
M2932->X:$000EB0,22,1 ; #29 Negative-end-limit-set bit
M2933->X:$000EB0,13,1 ; #29 Desired-velocity-zero bit
M2935->X:$000EB0,15,1 ; #29 Dwell-in-progress bit
M2937->X:$000EB0,17,1 ; #29 Running-program bit
M2938->X:$000EB0,18,1 ; #29 Open-loop-mode bit
M2939->X:$000EB0,19,1 ; #29 Amplifier-enabled status bit
M2940->Y:$000EC0,0,1 ; #29 Background in-position bit
M2941->Y:$000EC0,1,1 ; #29 Warning-following error bit
M2942->Y:$000EC0,2,1 ; #29 Fatal-following-error bit
M2943->Y:$000EC0,3,1 ; #29 Amplifier-fault-error bit
M2944->Y:$000EC0,13,1 ; #29 Foreground in-position bit
M2945->Y:$000EC0,10,1 ; #29 Home-complete bit
M2946->Y:$000EC0,6,1 ; #29 Integrated following error fault bit
M2947->Y:$000EC0,5,1 ; #29 I2T fault bit
M2948->Y:$000EC0,8,1 ; #29 Phasing error fault bit
M2949->Y:$000EC0,9,1 ; #29 Phasing search-in-progress bit
MACRO IC 3 Node 8 Flag Registers (usually used for Motor #29)
M2950->X:$003478,0,24 ; MACRO IC 3 Node 8 flag status register
M2951->Y:$003478,0,24 ; MACRO IC 3 Node 8 flag command register
M2953->X:$003478,20,4 ; MACRO IC 3 Node 8 TUVW flags
M2954->Y:$003478,14,1 ; MACRO IC 3 Node 8 amplifier enable flag
M2955->X:$003478,15,1 ; MACRO IC 3 Node 8 node/amplifier fault flag
M2956->X:$003478,16,1 ; MACRO IC 3 Node 8 home flag
M2957->X:$003478,17,1 ; MACRO IC 3 Node 8 positive limit flag
M2958->X:$003478,18,1 ; MACRO IC 3 Node 8 negative limit flag
M2959->X:$003478,19,1 ; MACRO IC 3 Node 8 user flag
Motor #29 Move Registers
M2961->D:$000E88 ; #29 Commanded position (1/[Ixx08*32] cts)
M2962->D:$000E8B ; #29 Actual position (1/[Ixx08*32] cts)
M2963->D:$000EC7 ; #29 Target (end) position (1/[Ixx08*32] cts)
M2964->D:$000ECC ; #29 Position bias (1/[Ixx08*32] cts)
M2966->X:$000E9D,0,24,S ; #29 Actual velocity (1/[Ixx09*32] cts/cyc)
M2967->D:$000E8D ; #29 Present master pos (1/[Ixx07*32] cts)
M2968->X:$000EBF,8,16,S ; #29 Filter Output (16-bit DAC bits)
M2969->D:$000E90 ; #29 Compensation correction (1/[Ixx08*32] cts)
M2970->D:$000EB4 ; #29 Present phase position (including fraction)
M2971->X:$000EB4,24,S ; #29 Present phase position (counts *Ixx70)
M2972->L:$000ED7 ; #29 Variable jog position/distance (cts)
M2973->Y:$000ECE,0,24,S ; #29 Encoder home capture position (cts)