Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 703
Motor #16 Status Bits
M1630->Y:$000840,11,1 ; #16 Stopped-on-position-limit bit
M1631->X:$000830,21,1 ; #16 Positive-end-limit-set bit
M1632->X:$000830,22,1 ; #16 Negative-end-limit-set bit
M1633->X:$000830,13,1 ; #16 Desired-velocity-zero bit
M1635->X:$000830,15,1 ; #16 Dwell-in-progress bit
M1637->X:$000830,17,1 ; #16 Running-program bit
M1638->X:$000830,18,1 ; #16 Open-loop-mode bit
M1639->X:$000830,19,1 ; #16 Amplifier-enabled status bit
M1640->Y:$000840,0,1 ; #16 Background in-position bit
M1641->Y:$000840,1,1 ; #16 Warning-following error bit
M1642->Y:$000840,2,1 ; #16 Fatal-following-error bit
M1643->Y:$000840,3,1 ; #16 Amplifier-fault-error bit
M1644->Y:$000840,13,1 ; #16 Foreground in-position bit
M1645->Y:$000840,10,1 ; #16 Home-complete bit
M1646->Y:$000840,6,1 ; #16 Integrated following error fault bit
M1647->Y:$000840,5,1 ; #16 I2T fault bit
M1648->Y:$000840,8,1 ; #16 Phasing error fault bit
MACRO IC 1 Node 13 Flag Registers (usually used for Motor #16)
M1650->X:$00345D,0,24 ; MACRO IC 1 Node 13 flag status register
M1651->Y:$00345D,0,24 ; MACRO IC 1 Node 13 flag command register
M1653->X:$00345D,20,4 ; MACRO IC 1 Node 13 TUVW flags
M1654->Y:$00345D,14,1 ; MACRO IC 1 Node 13 amplifier enable flag
M1655->X:$00345D,15,1 ; MACRO IC 1 Node 13 node/amplifier fault flag
M1656->X:$00345D,16,1 ; MACRO IC 1 Node 13 home flag
M1657->X:$00345D,17,1 ; MACRO IC 1 Node 13 positive limit flag
M1658->X:$00345D,18,1 ; MACRO IC 1 Node 13 negative limit flag
M1659->X:$00345D,19,1 ; MACRO IC 1 Node 13 user flag
Motor #16 Move Registers
M1661->D:$000808 ; #16 Commanded position (1/[Ixx08*32] cts)
M1662->D:$00080B ; #16 Actual position (1/[Ixx08*32] cts)
M1663->D:$000847 ; #16 Target (end) position (1/[Ixx08*32] cts)
M1664->D:$00084C ; #16 Position bias (1/[Ixx08*32] cts)
M1666->X:$00081D,0,24,S ; #16 Actual velocity (1/[Ixx09*32] cts/cyc)
M1667->D:$00080D ; #16 Present master pos (1/[Ixx07*32] cts)
M1668->X:$00083F,8,16,S ; #16 Filter Output (16-bit DAC bits)
M1669->D:$000810 ; #16 Compensation correction (1/[Ixx08*32] cts)
M1670->D:$000834 ; #16 Present phase position (including fraction)
M1671->X:$000834,24,S ; #16 Present phase position (counts *Ixx70)
M1672->L:$000857 ; #16 Variable jog position/distance (cts)
M1673->Y:$00084E,0,24,S ; #16 Encoder home capture position (cts)
M1674->D:$00086F ; #16 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1675->X:$000839,8,16,S ; #16 Actual quadrature current
M1676->Y:$000839,8,16,S ; #16 Actual direct current
M1677->X:$00083C,8,16,S ; #16 Quadrature current-loop integrator output
M1678->Y:$00083C,8,16,S ; #16 Direct current-loop integrator output
M1679->X:$00082E,8,16,S ; #16 PID internal filter result (16-bit DAC bits)
M1688->Y:$079319,0,12,U ; IC 5 Ch 4 Compare A fractional count
M1689->Y:$079318,0,12,U ; IC 5 Ch 4 Compare B fractional count