Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 726
M3041->Y:$000F40,1,1 ; #30 Warning-following error bit
M3042->Y:$000F40,2,1 ; #30 Fatal-following-error bit
M3043->Y:$000F40,3,1 ; #30 Amplifier-fault-error bit
M3044->Y:$000F40,13,1 ; #30 Foreground in-position bit
M3045->Y:$000F40,10,1 ; #30 Home-complete bit
M3046->Y:$000F40,6,1 ; #30 Integrated following error fault bit
M3047->Y:$000F40,5,1 ; #30 I2T fault bit
M3048->Y:$000F40,8,1 ; #30 Phasing error fault bit
M3049->Y:$000F40,9,1 ; #30 Phasing search-in-progress bit
MACRO IC 3 Node 9 Flag Registers (usually used for Motor #30)
M3050->X:$003479,0,24 ; MACRO IC 3 Node 9 flag status register
M3051->Y:$003479,0,24 ; MACRO IC 3 Node 9 flag command register
M3053->X:$003479,20,4 ; MACRO IC 3 Node 9 TUVW flags
M3054->Y:$003479,14,1 ; MACRO IC 3 Node 9 amplifier enable flag
M3055->X:$003479,15,1 ; MACRO IC 3 Node 9 node/amplifier fault flag
M3056->X:$003479,16,1 ; MACRO IC 3 Node 9 home flag
M3057->X:$003479,17,1 ; MACRO IC 3 Node 9 positive limit flag
M3058->X:$003479,18,1 ; MACRO IC 3 Node 9 negative limit flag
M3059->X:$003479,19,1 ; MACRO IC 3 Node 9 user flag
Motor #30 Move Registers
M3061->D:$000F08 ; #30 Commanded position (1/[Ixx08*32] cts)
M3062->D:$000F0B ; #30 Actual position (1/[Ixx08*32] cts)
M3063->D:$000F47 ; #30 Target (end) position (1/[Ixx08*32] cts)
M3064->D:$000F4C ; #30 Position bias (1/[Ixx08*32] cts)
M3066->X:$000F1D,0,24,S ; #30 Actual velocity (1/[Ixx09*32] cts/cyc)
M3067->D:$000F0D ; #30 Present master pos (1/[Ixx07*32] cts)
M3068->X:$000F3F,8,16,S ; #30 Filter Output (16-bit DAC bits)
M3069->D:$000F10 ; #30 Compensation correction (1/[Ixx08*32] cts)
M3070->D:$000F34 ; #30 Present phase position (including fraction)
M3071->X:$000F34,24,S ; #30 Present phase position (counts *Ixx70)
M3072->L:$000F57 ; #30 Variable jog position/distance (cts)
M3073->Y:$000F4E,0,24,S ; #30 Encoder home capture position (cts)
M3074->D:$000F6F ; #30 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3075->X:$000F39,8,16,S ; #30 Actual quadrature current
M3076->Y:$000F39,8,16,S ; #30 Actual direct current
M3077->X:$000F3C,8,16,S ; #30 Quadrature current-loop integrator output
M3078->Y:$000F3C,8,16,S ; #30 Direct current-loop integrator output
M3079->X:$000F2E,8,16,S ; #30 PID internal filter result (16-bit DAC bits)
M3088->Y:$07B309,0,12,U ; IC 9 Ch 2 Compare A fractional count
M3089->Y:$07B308,0,12,U ; IC 9 Ch 2 Compare B fractional count
Motor #30 Axis Definition Registers
M3091->L:$000F4F ; #30 X/U/A/B/C-Axis scale factor (cts/unit)
M3092->L:$000F50 ; #30 Y/V-Axis scale factor (cts/unit)
M3093->L:$000F51 ; #30 Z/W-Axis scale factor (cts/unit)
M3094->L:$000F52 ; #30 Axis offset (cts)
Servo IC 9 Channel 3 Registers (usually for Motor #31)
M3101->X:$07B311,0,24,S ; ENC7 24-bit counter position
M3102->Y:$07B312,8,16,S ; OUT7A command value; DAC or PWM
M3103->X:$07B313,0,24,S ; ENC7 captured position
M3104->Y:$07B313,8,16,S ; OUT7B command value; DAC or PWM
M3105->Y:$07B315,8,16,S ; ADC7A input value