Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 687
MACRO IC 0 Node 9 Flag Registers (usually used for Motor #6)
M650->X:$003449,0,24 ; MACRO IC 0 Node 9 flag status register
M651->Y:$003449,0,24 ; MACRO IC 0 Node 9 flag command register
M653->X:$003449,20,4 ; MACRO IC 0 Node 9 TUVW flags
M654->Y:$003449,14,1 ; MACRO IC 0 Node 9 amplifier enable flag
M655->X:$003449,15,1 ; MACRO IC 0 Node 9 node/amplifier fault flag
M656->X:$003449,16,1 ; MACRO IC 0 Node 9 home flag
M657->X:$003449,17,1 ; MACRO IC 0 Node 9 positive limit flag
M658->X:$003449,18,1 ; MACRO IC 0 Node 9 negative limit flag
M659->X:$003449,19,1 ; MACRO IC 0 Node 9 user flag
Motor #6 Move Registers
M661->D:$000308 ; #6 Commanded position (1/[Ixx08*32] cts)
M662->D:$00030B ; #6 Actual position (1/[Ixx08*32] cts)
M663->D:$000347 ; #6 Target (end) position (1/[Ixx08*32] cts)
M664->D:$00034C ; #6 Position bias (1/[Ixx08*32] cts)
M666->X:$00031D,0,24,S ; #6 Actual velocity (1/[Ixx09*32] cts/cyc)
M667->D:$00030D ; #6 Present master pos (1/[Ixx07*32] cts)
M668->X:$00033F,8,16,S ; #6 Filter Output (16-bit DAC bits)
M669->D:$000310 ; #6 Compensation correction (1/[Ixx08*32] cts)
M670->D:$000334 ; #6 Present phase position (including fraction)
M671->X:$000334,24,S ; #6 Present phase position (counts *Ixx70)
M672->L:$000357 ; #6 Variable jog position/distance (cts)
M673->Y:$00034E,0,24,S ; #6 Encoder home capture position (cts)
M674->D:$00036F ; #6 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M675->X:$000339,8,16,S ; #6 Actual quadrature current
M676->Y:$000339,8,16,S ; #6 Actual direct current
M677->X:$00033C,8,16,S ; #6 Quadrature current-loop integrator output
M678->Y:$00033C,8,16,S ; #6 Direct current-loop integrator output
M679->X:$00032E,8,16,S ; #6 PID internal filter result (16-bit DAC bits)
M688->Y:$078309,0,12,U ; IC 3 Ch 2 Compare A fractional count
M689->Y:$078308,0,12,U ; IC 3 Ch 2 Compare B fractional count
Motor #6 Axis Definition Registers
M691->L:$00034F ; #6 X/U/A/B/C-Axis scale factor (cts/unit)
M692->L:$000350 ; #6 Y/V-Axis scale factor (cts/unit)
M693->L:$000351 ; #6 Z/W-Axis scale factor (cts/unit)
M694->L:$000352 ; #6 Axis offset (cts)
Servo IC 3 Channel 3 Registers (usually for Motor #7)
M701->X:$078311,0,24,S ; ENC7 24-bit counter position
M702->Y:$078312,8,16,S ; OUT7A command value; DAC or PWM
M703->X:$078313,0,24,S ; ENC7 captured position
M704->Y:$078313,8,16,S ; OUT7B command value; DAC or PWM
M705->Y:$078315,8,16,S ; ADC7A input value
M706->Y:$078316,8,16,S ; ADC7B input value
M707->Y:$078314,8,16,S ; OUT7C command value; PFM or PWM
M708->Y:$078317,0,24,S ; ENC7 compare A position
M709->X:$078317,0,24,S ; ENC7 compare B position
M710->X:$078316,0,24,S ; ENC7 compare autoincrement value
M711->X:$078315,11 ; ENC7 compare initial state write enable
M712->X:$078315,12 ; ENC7 compare initial state
M714->X:$078315,14 ; AENA7 output status
M715->X:$078310,19 ; CHC7 input status