Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 700
M1447->Y:$000740,5,1 ; #14 I2T fault bit
M1448->Y:$000740,8,1 ; #14 Phasing error fault bit
M1449->Y:$000740,9,1 ; #14 Phasing search-in-progress bit
MACRO IC 1 Node 9 Flag Registers (usually used for Motor #14)
M1450->X:$003459,0,24 ; MACRO IC 1 Node 9 flag status register
M1451->Y:$003459,0,24 ; MACRO IC 1 Node 9 flag command register
M1453->X:$003459,20,4 ; MACRO IC 1 Node 9 TUVW flags
M1454->Y:$003459,14,1 ; MACRO IC 1 Node 9 amplifier enable flag
M1455->X:$003459,15,1 ; MACRO IC 1 Node 9 node/amplifier fault flag
M1456->X:$003459,16,1 ; MACRO IC 1 Node 9 home flag
M1457->X:$003459,17,1 ; MACRO IC 1 Node 9 positive limit flag
M1458->X:$003459,18,1 ; MACRO IC 1 Node 9 negative limit flag
M1459->X:$003459,19,1 ; MACRO IC 1 Node 9 user flag
Motor #14 Move Registers
M1461->D:$000708 ; #14 Commanded position (1/[Ixx08*32] cts)
M1462->D:$00070B ; #14 Actual position (1/[Ixx08*32] cts)
M1463->D:$000747 ; #14 Target (end) position (1/[Ixx08*32] cts)
M1464->D:$00074C ; #14 Position bias (1/[Ixx08*32] cts)
M1466->X:$00071D,0,24,S ; #14 Actual velocity (1/[Ixx09*32] cts/cyc)
M1467->D:$00070D ; #14 Present master pos (1/[Ixx07*32] cts)
M1468->X:$00073F,8,16,S ; #14 Filter Output (16-bit DAC bits)
M1469->D:$000710 ; #14 Compensation correction (1/[Ixx08*32] cts)
M1470->D:$000734 ; #14 Present phase position (including fraction)
M1471->X:$000734,24,S ; #14 Present phase position (counts *Ixx70)
M1472->L:$000757 ; #14 Variable jog position/distance (cts)
M1473->Y:$00074E,0,24,S ; #14 Encoder home capture position (cts)
M1474->D:$00076F ; #14 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1475->X:$000739,8,16,S ; #14 Actual quadrature current
M1476->Y:$000739,8,16,S ; #14 Actual direct current
M1477->X:$00073C,8,16,S ; #14 Quadrature current-loop integrator output
M1478->Y:$00073C,8,16,S ; #14 Direct current-loop integrator output
M1479->X:$00072E,8,16,S ; #14 PID internal filter result (16-bit DAC bits)
M1488->Y:$079309,0,12,U ; IC 5 Ch 2 Compare A fractional count
M1489->Y:$079308,0,12,U ; IC 5 Ch 2 Compare B fractional count
Motor #14 Axis Definition Registers
M1491->L:$00074F ; #14 X/U/A/B/C-Axis scale factor (cts/unit)
M1492->L:$000750 ; #14 Y/V-Axis scale factor (cts/unit)
M1493->L:$000751 ; #14 Z/W-Axis scale factor (cts/unit)
M1494->L:$000752 ; #14 Axis offset (cts)
Servo IC 5 Channel 3 Registers (usually for Motor #15)
M1501->X:$079311,0,24,S ; ENC7 24-bit counter position
M1502->Y:$079312,8,16,S ; OUT7A command value; DAC or PWM
M1503->X:$079313,0,24,S ; ENC7 captured position
M1504->Y:$079313,8,16,S ; OUT7B command value; DAC or PWM
M1505->Y:$079315,8,16,S ; ADC7A input value
M1506->Y:$079316,8,16,S ; ADC7B input value
M1507->Y:$079314,8,16,S ; OUT7C command value; PFM or PWM
M1508->Y:$079317,0,24,S ; ENC7 compare A position
M1509->X:$079317,0,24,S ; ENC7 compare B position
M1510->X:$079316,0,24,S ; ENC7 compare autoincrement value
M1511->X:$079315,11 ; ENC7 compare initial state write enable