Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 705
M1749->Y:$0008C0,9,1 ; #17 Phasing search-in-progress bit
MACRO IC 2 Node 0 Flag Registers (usually used for Motor #17)
M1750->X:$003460,0,24 ; MACRO IC 2 Node 0 flag status register
M1751->Y:$003460,0,24 ; MACRO IC 2 Node 0 flag command register
M1753->X:$003460,20,4 ; MACRO IC 2 Node 0 TUVW flags
M1754->Y:$003460,14,1 ; MACRO IC 2 Node 0 amplifier enable flag
M1755->X:$003460,15,1 ; MACRO IC 2 Node 0 node/amplifier fault flag
M1756->X:$003460,16,1 ; MACRO IC 2 Node 0 home flag
M1757->X:$003460,17,1 ; MACRO IC 2 Node 0 positive limit flag
M1758->X:$003460,18,1 ; MACRO IC 2 Node 0 negative limit flag
M1759->X:$003460,19,1 ; MACRO IC 2 Node 0 user flag
Motor #17 Move Registers
M1761->D:$000888 ; #17 Commanded position (1/[Ixx08*32] cts)
M1762->D:$00088B ; #17 Actual position (1/[Ixx08*32] cts)
M1763->D:$0008C7 ; #17 Target (end) position (1/[Ixx08*32] cts)
M1764->D:$0008CC ; #17 Position bias (1/[Ixx08*32] cts)
M1766->X:$00089D,0,24,S ; #17 Actual velocity (1/[Ixx09*32] cts/cyc)
M1767->D:$00088D ; #17 Present master pos (1/[Ixx07*32] cts)
M1768->X:$0008BF,8,16,S ; #17 Filter Output (16-bit DAC bits)
M1769->D:$000890 ; #17 Compensation correction (1/[Ixx08*32] cts)
M1770->D:$0008B4 ; #17 Present phase position (including fraction)
M1771->X:$0008B4,24,S ; #17 Present phase position (counts *Ixx70)
M1772->L:$0008D7 ; #17 Variable jog position/distance (cts)
M1773->Y:$0008CE,0,24,S ; #17 Encoder home capture position (cts)
M1774->D:$0008EF ; #17 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1775->X:$0008B9,8,16,S ; #17 Actual quadrature current
M1776->Y:$0008B9,8,16,S ; #17 Actual direct current
M1777->X:$0008BC,8,16,S ; #17 Quadrature current-loop integrator output
M1778->Y:$0008BC,8,16,S ; #17 Direct current-loop integrator output
M1779->X:$0008AE,8,16,S ; #17 PID internal filter result (16-bit DAC bits)
M1788->Y:$07A201,0,12,U ; IC 6 Ch 1 Compare A fractional count
M1789->Y:$07A200,0,12,U ; IC 6 Ch 1 Compare B fractional count
Motor #17 Axis Definition Registers
M1791->L:$0008CF ; #17 X/U/A/B/C-Axis scale factor (cts/unit)
M1792->L:$0008D0 ; #17 Y/V-Axis scale factor (cts/unit)
M1793->L:$0008D1 ; #17 Z/W-Axis scale factor (cts/unit)
M1794->L:$0008D2 ; #17 Axis offset (cts)
Servo IC 6 Channel 2 Registers (usually for Motor #18)
M1801->X:$07A209,0,24,S ; ENC2 24-bit counter position
M1802->Y:$07A20A,8,16,S ; OUT2A command value; DAC or PWM
M1803->X:$07A20B,0,24,S ; ENC2 captured position
M1804->Y:$07A20B,8,16,S ; OUT2B command value; DAC or PWM
M1805->Y:$07A20D,8,16,S ; ADC2A input value
M1806->Y:$07A20E,8,16,S ; ADC2B input value
M1807->Y:$07A20C,8,16,S ; OUT2C command value; PFM or PWM
M1808->Y:$07A20F,0,24,S ; ENC2 compare A position
M1809->X:$07A20F,0,24,S ; ENC2 compare B position
M1810->X:$07A20E,0,24,S ; ENC2 compare autoincrement value
M1811->X:$07A20D,11 ; ENC2 compare initial state write enable
M1812->X:$07A20D,12 ; ENC2 compare initial state
M1814->X:$07A20D,14 ; AENA2 output status