Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 571
M1018->X:$078204,18,1 ; ENC2 Count-error flag
M1019->X:$078204,19,1 ; ENC2 3rd channel input status
M1020->X:$078204,20,1 ; HMFL2 input status
M1021->X:$078204,21,1 ; -LIM2 (positive end) input status
M1022->X:$078204,22,1 ; +LIM2 (negative end) input status
M1023->X:$078204,23,1 ; FAULT2 input status
Motor #10 Status Bits
M1030->Y:$000540,11,1 ; #10 Stopped-on-position-limit bit
M1031->X:$000530,21,1 ; #10 Positive-end-limit-set bit
M1032->X:$000530,22,1 ; #10 Negative-end-limit-set bit
M1033->X:$000530,13,1 ; #10 Desired-velocity-zero bit
M1035->X:$000530,15,1 ; #10 Dwell-in-progress bit
M1037->X:$000530,17,1 ; #10 Running-program bit
M1038->X:$000530,18,1 ; #10 Open-loop-mode bit
M1039->X:$000530,19,1 ; #10 Amplifier-enabled status bit
M1040->Y:$000540,0,1 ; #10 Background in-position bit
M1041->Y:$000540,1,1 ; #10 Warning-following error bit
M1042->Y:$000540,2,1 ; #10 Fatal-following-error bit
M1043->Y:$000540,3,1 ; #10 Amplifier-fault-error bit
M1044->Y:$000540,13,1 ; #10 Foreground in-position bit
M1045->Y:$000540,10,1 ; #10 Home-complete bit
M1046->Y:$000540,6,1 ; #10 Integrated following error fault bit
M1047->Y:$000540,5,1 ; #10 I2T fault bit
M1048->Y:$000540,8,1 ; #10 Phasing error fault bit
M1049->Y:$000540,9,1 ; #10 Phasing search-in-progress bit
Motor #10 Move Registers
M1061->D:$000508 ; #10 Commanded position (1/[Ixx08*32] cts)
M1062->D:$00050B ; #10 Actual position (1/[Ixx08*32] cts)
M1063->D:$000547 ; #10 Target (end) position (1/[Ixx08*32] cts)
M1064->D:$00054C ; #10 Position bias (1/[Ixx08*32] cts)
M1066->X:$00051D,0,24,S ; #10 Actual velocity (1/[Ixx09*32] cts/cyc)
M1067->D:$00050D ; #10 Present master pos (1/[Ixx07*32] cts)
M1068->X:$00053F,8,16,S ; #10 Filter Output (16-bit DAC bits)
M1069->D:$000510 ; #10 Compensation correction (1/[Ixx08*32] cts)
M1070->D:$000534 ; #10 Present phase position (including fraction)
M1071->X:$000534,24,S ; #10 Present phase position (counts *Ixx70)
M1072->L:$000557 ; #10 Variable jog position/distance (cts)
M1073->Y:$00054E,0,24,S ; #10 Encoder home capture position (cts)
M1074->D:$00056F ; #10 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1075->X:$000539,8,16,S ; #10 Actual quadrature current
M1076->Y:$000539,8,16,S ; #10 Actual direct current
M1077->X:$00053C,8,16,S ; #10 Quadrature current-loop integrator output
M1078->Y:$00053C,8,16,S ; #10 Direct current-loop integrator output
M1079->X:$00052E,8,16,S ; #10 PID internal filter result (16-bit DAC bits)
Motor #10 Axis Definition Registers
M1091->L:$00054F ; #10 X/U/A/B/C-Axis scale factor (cts/unit)
M1092->L:$000550 ; #10 Y/V-Axis scale factor (cts/unit)
M1093->L:$000551 ; #10 Z/W-Axis scale factor (cts/unit)
M1094->L:$000552 ; #10 Axis offset (cts)