Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 619
M520->X:$078100,16 ; HMFL5 flag input status
M521->X:$078100,17 ; PLIM5 flag input status
M522->X:$078100,18 ; MLIM5 flag input status
M523->X:$078100,15 ; FAULT5 flag input status
M524->X:$078100,20 ; Channel 5 W flag input status
M525->X:$078100,21 ; Channel 5 V flag input status
M526->X:$078100,22 ; Channel 5 U flag input status
M527->X:$078100,23 ; Channel 5 T flag input status
M528->X:$078100,20,4 ; Channel 5 TUVW inputs as 4-bit value
Motor #5 Status Bits
M530->Y:$0002C0,11,1 ; #5 Stopped-on-position-limit bit
M531->X:$0002B0,21,1 ; #5 Positive-end-limit-set bit
M532->X:$0002B0,22,1 ; #5 Negative-end-limit-set bit
M533->X:$0002B0,13,1 ; #5 Desired-velocity-zero bit
M535->X:$0002B0,15,1 ; #5 Dwell-in-progress bit
M537->X:$0002B0,17,1 ; #5 Running-program bit
M538->X:$0002B0,18,1 ; #5 Open-loop-mode bit
M539->X:$0002B0,19,1 ; #5 Amplifier-enabled status bit
M540->Y:$0002C0,0,1 ; #5 Background in-position bit
M541->Y:$0002C0,1,1 ; #5 Warning-following error bit
M542->Y:$0002C0,2,1 ; #5 Fatal-following-error bit
M543->Y:$0002C0,3,1 ; #5 Amplifier-fault-error bit
M544->Y:$0002C0,13,1 ; #5 Foreground in-position bit
M545->Y:$0002C0,10,1 ; #5 Home-complete bit
M546->Y:$0002C0,6,1 ; #5 Integrated following error fault bit
M547->Y:$0002C0,5,1 ; #5 I2T fault bit
M548->Y:$0002C0,8,1 ; #5 Phasing error fault bit
M549->Y:$0002C0,9,1 ; #5 Phasing search-in-progress bit
MACRO IC 0 Node 8 Flag Registers (usually used for Motor #5)
M550->X:$003448,0,24 ; MACRO IC 0 Node 8 flag status register
M551->Y:$003448,0,24 ; MACRO IC 0 Node 8 flag command register
M553->X:$003448,20,4 ; MACRO IC 0 Node 8 TUVW flags
M554->Y:$003448,14,1 ; MACRO IC 0 Node 8 amplifier enable flag
M555->X:$003448,15,1 ; MACRO IC 0 Node 8 node/amplifier fault flag
M556->X:$003448,16,1 ; MACRO IC 0 Node 8 home flag
M557->X:$003448,17,1 ; MACRO IC 0 Node 8 positive limit flag
M558->X:$003448,18,1 ; MACRO IC 0 Node 8 negative limit flag
M559->X:$003448,19,1 ; MACRO IC 0 Node 8 user flag
Motor #5 Move Registers
M561->D:$000288 ; #5 Commanded position (1/[Ixx08*32] cts)
M562->D:$00028B ; #5 Actual position (1/[Ixx08*32] cts)
M563->D:$0002C7 ; #5 Target (end) position (1/[Ixx08*32] cts)
M564->D:$0002CC ; #5 Position bias (1/[Ixx08*32] cts)
M566->X:$00029D,0,24,S ; #5 Actual velocity (1/[Ixx09*32] cts/cyc)
M567->D:$00028D ; #5 Present master pos (1/[Ixx07*32] cts)
M568->X:$0002BF,8,16,S ; #5 Filter Output (16-bit DAC bits)
M569->D:$000290 ; #5 Compensation correction (1/[Ixx08*32] cts)
M570->D:$0002B4 ; #5 Present phase position (including fraction)
M571->X:$0002B4,24,S ; #5 Present phase position (counts *Ixx70)
M572->L:$0002D7 ; #5 Variable jog position/distance (cts)
M573->Y:$0002CE,0,24,S ; #5 Encoder home capture position (cts)