Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 693
M1020->X:$079208,16 ; HMFL2 flag input status
M1021->X:$079208,17 ; PLIM2 flag input status
M1022->X:$079208,18 ; MLIM2 flag input status
M1023->X:$079208,15 ; FAULT2 flag input status
M1024->X:$079208,20 ; Channel 2 W flag input status
M1025->X:$079208,21 ; Channel 2 V flag input status
M1026->X:$079208,22 ; Channel 2 U flag input status
M1027->X:$079208,23 ; Channel 2 T flag input status
M1028->X:$079208,20,4 ; Channel 2 TUVW inputs as 4-bit value
Motor #10 Status Bits
M1030->Y:$000540,11,1 ; #10 Stopped-on-position-limit bit
M1031->X:$000530,21,1 ; #10 Positive-end-limit-set bit
M1032->X:$000530,22,1 ; #10 Negative-end-limit-set bit
M1033->X:$000530,13,1 ; #10 Desired-velocity-zero bit
M1035->X:$000530,15,1 ; #10 Dwell-in-progress bit
M1037->X:$000530,17,1 ; #10 Running-program bit
M1038->X:$000530,18,1 ; #10 Open-loop-mode bit
M1039->X:$000530,19,1 ; #10 Amplifier-enabled status bit
M1040->Y:$000540,0,1 ; #10 Background in-position bit
M1041->Y:$000540,1,1 ; #10 Warning-following error bit
M1042->Y:$000540,2,1 ; #10 Fatal-following-error bit
M1043->Y:$000540,3,1 ; #10 Amplifier-fault-error bit
M1044->Y:$000540,13,1 ; #10 Foreground in-position bit
M1045->Y:$000540,10,1 ; #10 Home-complete bit
M1046->Y:$000540,6,1 ; #10 Integrated following error fault bit
M1047->Y:$000540,5,1 ; #10 I2T fault bit
M1048->Y:$000540,8,1 ; #10 Phasing error fault bit
M1049->Y:$000540,9,1 ; #10 Phasing search-in-progress bit
MACRO IC 1 Node 1 Flag Registers (usually used for Motor #10)
M1050->X:$003451,0,24 ; MACRO IC 1 Node 1 flag status register
M1051->Y:$003451,0,24 ; MACRO IC 1 Node 1 flag command register
M1053->X:$003451,20,4 ; MACRO IC 1 Node 1 TUVW flags
M1054->Y:$003451,14,1 ; MACRO IC 1 Node 1 amplifier enable flag
M1055->X:$003451,15,1 ; MACRO IC 1 Node 1 node/amplifier fault flag
M1056->X:$003451,16,1 ; MACRO IC 1 Node 1 home flag
M1057->X:$003451,17,1 ; MACRO IC 1 Node 1 positive limit flag
M1058->X:$003451,18,1 ; MACRO IC 1 Node 1 negative limit flag
M1059->X:$003451,19,1 ; MACRO IC 1 Node 1 user flag
Motor #10 Move Registers
M1061->D:$000508 ; #10 Commanded position (1/[Ixx08*32] cts)
M1062->D:$00050B ; #10 Actual position (1/[Ixx08*32] cts)
M1063->D:$000547 ; #10 Target (end) position (1/[Ixx08*32] cts)
M1064->D:$00054C ; #10 Position bias (1/[Ixx08*32] cts)
M1066->X:$00051D,0,24,S ; #10 Actual velocity (1/[Ixx09*32] cts/cyc)
M1067->D:$00050D ; #10 Present master pos (1/[Ixx07*32] cts)
M1068->X:$00053F,8,16,S ; #10 Filter Output (16-bit DAC bits)
M1069->D:$000510 ; #10 Compensation correction (1/[Ixx08*32] cts)
M1070->D:$000534 ; #10 Present phase position (including fraction)
M1071->X:$000534,24,S ; #10 Present phase position (counts *Ixx70)
M1072->L:$000557 ; #10 Variable jog position/distance (cts)
M1073->Y:$00054E,0,24,S ; #10 Encoder home capture position (cts)