Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 593
M2806->Y:$07A20C,0,24,U ; ENC4 time between counts (SCLK cycles)
M2810->X:$07A20C,10,1 ; ENC4 count-write enable control
M2811->X:$07A20C,11,1 ; EQU4 compare flag latch control
M2812->X:$07A20C,12,1 ; EQU4 compare output enable
M2813->X:$07A20C,13,1 ; EQU4 compare invert enable
M2814->X:$07A20C,14,1 ; AENA4/DIR4 Output
M2816->X:$07A20C,16,1 ; EQU4 compare flag
M2817->X:$07A20C,17,1 ; ENC4 position-captured flag
M2818->X:$07A20C,18,1 ; ENC4 Count-error flag
M2819->X:$07A20C,19,1 ; ENC4 3rd channel input status
M2820->X:$07A20C,20,1 ; HMFL4 input status
M2821->X:$07A20C,21,1 ; -LIM4 (positive end) input status
M2822->X:$07A20C,22,1 ; +LIM4 (negative end) input status
M2823->X:$07A20C,23,1 ; FAULT4 input status
Motor #28 Status Bits
M2830->Y:$000E40,11,1 ; #28 Stopped-on-position-limit bit
M2831->X:$000E30,21,1 ; #28 Positive-end-limit-set bit
M2832->X:$000E30,22,1 ; #28 Negative-end-limit-set bit
M2833->X:$000E30,13,1 ; #28 Desired-velocity-zero bit
M2835->X:$000E30,15,1 ; #28 Dwell-in-progress bit
M2837->X:$000E30,17,1 ; #28 Running-program bit
M2838->X:$000E30,18,1 ; #28 Open-loop-mode bit
M2839->X:$000E30,19,1 ; #28 Amplifier-enabled status bit
M2840->Y:$000E40,0,1 ; #28 Background in-position bit
M2841->Y:$000E40,1,1 ; #28 Warning-following error bit
M2842->Y:$000E40,2,1 ; #28 Fatal-following-error bit
M2843->Y:$000E40,3,1 ; #28 Amplifier-fault-error bit
M2844->Y:$000E40,13,1 ; #28 Foreground in-position bit
M2845->Y:$000E40,10,1 ; #28 Home-complete bit
M2846->Y:$000E40,6,1 ; #28 Integrated following error fault bit
M2847->Y:$000E40,5,1 ; #28 I2T fault bit
M2848->Y:$000E40,8,1 ; #28 Phasing error fault bit
M2849->Y:$000E40,9,1 ; #28 Phasing search-in-progress bit
Motor #28 Move Registers
M2861->D:$000E08 ; #28 Commanded position (1/[Ixx08*32] cts)
M2862->D:$000E0B ; #28 Actual position (1/[Ixx08*32] cts)
M2863->D:$000E47 ; #28 Target (end) position (1/[Ixx08*32] cts)
M2864->D:$000E4C ; #28 Position bias (1/[Ixx08*32] cts)
M2866->X:$000E1D,0,24,S ; #28 Actual velocity (1/[Ixx09*32] cts/cyc)
M2867->D:$000E0D ; #28 Present master pos (1/[Ixx07*32] cts)
M2868->X:$000E3F,8,16,S ; #28 Filter Output (16-bit DAC bits)
M2869->D:$000E10 ; #28 Compensation correction (1/[Ixx08*32] cts)
M2870->D:$000E34 ; #28 Present phase position (including fraction)
M2871->X:$000E34,24,S ; #28 Present phase position (counts *Ixx70)
M2872->L:$000E57 ; #28 Variable jog position/distance (cts)
M2873->Y:$000E4E,0,24,S ; #28 Encoder home capture position (cts)
M2874->D:$000E6F ; #28 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2875->X:$000E39,8,16,S ; #28 Actual quadrature current
M2876->Y:$000E39,8,16,S ; #28 Actual direct current
M2877->X:$000E3C,8,16,S ; #28 Quadrature current-loop integrator output
M2878->Y:$000E3C,8,16,S ; #28 Direct current-loop integrator output