Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 690
M837->X:$000430,17,1 ; #8 Running-program bit
M838->X:$000430,18,1 ; #8 Open-loop-mode bit
M839->X:$000430,19,1 ; #8 Amplifier-enabled status bit
M840->Y:$000440,0,1 ; #8 Background in-position bit
M841->Y:$000440,1,1 ; #8 Warning-following error bit
M842->Y:$000440,2,1 ; #8 Fatal-following-error bit
M843->Y:$000440,3,1 ; #8 Amplifier-fault-error bit
M844->Y:$000440,13,1 ; #8 Foreground in-position bit
M845->Y:$000440,10,1 ; #8 Home-complete bit
M846->Y:$000440,6,1 ; #8 Integrated following error fault bit
M847->Y:$000440,5,1 ; #8 I2T fault bit
M848->Y:$000440,8,1 ; #8 Phasing error fault bit
M849->Y:$000440,9,1 ; #8 Phasing search-in-progress bit
MACRO IC 0 Node 13 Flag Registers (usually used for Motor #8)
M850->X:$00344D,0,24 ; MACRO IC 0 Node 13 flag status register
M851->Y:$00344D,0,24 ; MACRO IC 0 Node 13 flag command register
M853->X:$00344D,20,4 ; MACRO IC 0 Node 13 TUVW flags
M854->Y:$00344D,14,1 ; MACRO IC 0 Node 13 amplifier enable flag
M855->X:$00344D,15,1 ; MACRO IC 0 Node 13 node/amplifier fault flag
M856->X:$00344D,16,1 ; MACRO IC 0 Node 13 home flag
M857->X:$00344D,17,1 ; MACRO IC 0 Node 13 positive limit flag
M858->X:$00344D,18,1 ; MACRO IC 0 Node 13 negative limit flag
M859->X:$00344D,19,1 ; MACRO IC 0 Node 13 user flag
Motor #8 Move Registers
M861->D:$000408 ; #8 Commanded position (1/[Ixx08*32] cts)
M862->D:$00040B ; #8 Actual position (1/[Ixx08*32] cts)
M863->D:$000447 ; #8 Target (end) position (1/[Ixx08*32] cts)
M864->D:$00044C ; #8 Position bias (1/[Ixx08*32] cts)
M866->X:$00041D,0,24,S ; #8 Actual velocity (1/[Ixx09*32] cts/cyc)
M867->D:$00040D ; #8 Present master pos (1/[Ixx07*32] cts)
M868->X:$00043F,8,16,S ; #8 Filter Output (16-bit DAC bits)
M869->D:$000410 ; #8 Compensation correction 1/[Ixx08*32] cts)
M870->D:$000434 ; #8 Present phase position (including fraction)
M871->X:$000434,24,S ; #8 Present phase position (counts *Ixx70)
M872->L:$000457 ; #8 Variable jog position/distance (cts)
M873->Y:$00044E,0,24,S ; #8 Encoder home capture position (cts)
M874->D:$00046F ; #8 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M875->X:$000439,8,16,S ; #8 Actual quadrature current
M876->Y:$000439,8,16,S ; #8 Actual direct current
M877->X:$00043C,8,16,S ; #8 Quadrature current-loop integrator output
M878->Y:$00043C,8,16,S ; #8 Direct current-loop integrator output
M879->X:$00042E,8,16,S ; #8 PID internal filter result (16-bit DAC bits)
M888->Y:$078319,0,12,U ; IC 3 Ch 4 Compare A fractional count
M889->Y:$078318,0,12,U ; IC 3 Ch 4 Compare B fractional count
Motor #8 Axis Definition Registers
M891->L:$00044F ; #8 X/U/A/B/C-Axis scale factor (cts/unit)
M892->L:$000450 ; #8 Y/V-Axis scale factor (cts/unit)
M893->L:$000451 ; #8 Z/W-Axis scale factor (cts/unit)
M894->L:$000452 ; #8 Axis offset (cts)