Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 657
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
MACRO IC 3 Node 5 Flag Registers (usually used for Motor #28)
M2850->X:$003475,0,24 ; MACRO IC 3 Node 5 flag status register
M2851->Y:$003475,0,24 ; MACRO IC 3 Node 5 flag command register
M2853->X:$003475,20,4 ; MACRO IC 3 Node 5 TUVW flags
M2854->Y:$003475,14,1 ; MACRO IC 3 Node 5 amplifier enable flag
M2855->X:$003475,15,1 ; MACRO IC 3 Node 5 node/amplifier fault flag
M2856->X:$003475,16,1 ; MACRO IC 3 Node 5 home flag
M2857->X:$003475,17,1 ; MACRO IC 3 Node 5 positive limit flag
M2858->X:$003475,18,1 ; MACRO IC 3 Node 5 negative limit flag
M2859->X:$003475,19,1 ; MACRO IC 3 Node 5 user flag
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
M2879->X:$000E2E,8,16,S ; #28 PID internal filter result (16-bit DAC bits)
M2888->Y:$07A219,0,12,U ; IC 6 Ch 4 Compare A fractional count
M2889->Y:$07A218,0,12,U ; IC 6 Ch 4 Compare A fractional count
Motor #28 Axis Definition Registers
M2891->L:$000E4F ; #28 X/U/A/B/C-Axis scale factor (cts/unit)
M2892->L:$000E50 ; #28 Y/V-Axis scale factor (cts/unit)
M2893->L:$000E51 ; #28 Z/W-Axis scale factor (cts/unit)
M2894->L:$000E52 ; #28 Axis offset (cts)
Servo IC 7 Registers for Third Acc-24 Channel 5 (usually for Motor #29)
M2901->X:$07A301,0,24,S ; ENC5 24-bit counter position
M2902->Y:$07A302,8,16,S ; OUT5A command value; DAC or PWM
M2903->X:$07A303,0,24,S ; ENC5 captured position
M2904->Y:$07A303,8,16,S ; OUT5B command value; DAC or PWM
M2905->Y:$07A305,8,16,S ; ADC5A input value