Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 710
M2054->Y:$003465,14,1 ; MACRO IC 2 Node 5 amplifier enable flag
M2055->X:$003465,15,1 ; MACRO IC 2 Node 5 node/amplifier fault flag
M2056->X:$003465,16,1 ; MACRO IC 2 Node 5 home flag
M2057->X:$003465,17,1 ; MACRO IC 2 Node 5 positive limit flag
M2058->X:$003465,18,1 ; MACRO IC 2 Node 5 negative limit flag
M2059->X:$003465,19,1 ; MACRO IC 2 Node 5 user flag
Motor #20 Move Registers
M2061->D:$000A08 ; #20 Commanded position (1/[Ixx08*32] cts)
M2062->D:$000A0B ; #20 Actual position (1/[Ixx08*32] cts)
M2063->D:$000A47 ; #20 Target (end) position (1/[Ixx08*32] cts)
M2064->D:$000A4C ; #20 Position bias (1/[Ixx08*32] cts)
M2066->X:$000A1D,0,24,S ; #20 Actual velocity (1/[Ixx09*32] cts/cyc)
M2067->D:$000A0D ; #20 Present master pos (1/[Ixx07*32] cts)
M2068->X:$000A3F,8,16,S ; #20 Filter Output (16-bit DAC bits)
M2069->D:$000A10 ; #20 Compensation correction (1/[Ixx08*32] cts)
M2070->D:$000A34 ; #20 Present phase position (including fraction)
M2071->X:$000A34,24,S ; #20 Present phase position (counts *Ixx70)
M2072->L:$000A57 ; #20 Variable jog position/distance (cts)
M2073->Y:$000A4E,0,24,S ; #20 Encoder home capture position (cts)
M2074->D:$000A6F ; #20 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2075->X:$000A39,8,16,S ; #20 Actual quadrature current
M2076->Y:$000A39,8,16,S ; #20 Actual direct current
M2077->X:$000A3C,8,16,S ; #20 Quadrature current-loop integrator output
M2078->Y:$000A3C,8,16,S ; #20 Direct current-loop integrator output
M2079->X:$000A2E,8,16,S ; #20 PID internal filter result (16-bit DAC bits)
M2088->Y:$07A219,0,12,U ; IC 6 Ch 4 Compare A fractional count
M2089->Y:$07A218,0,12,U ; IC 6 Ch 4 Compare B fractional count
Motor #20 Axis Definition Registers
M2091->L:$000A4F ; #20 X/U/A/B/C-Axis scale factor (cts/unit)
M2092->L:$000A50 ; #20 Y/V-Axis scale factor (cts/unit)
M2093->L:$000A51 ; #20 Z/W-Axis scale factor (cts/unit)
M2094->L:$000A52 ; #20 Axis offset (cts)
Servo IC 7 Channel 1 Registers (usually for Motor #21)
M2101->X:$07A301,0,24,S ; ENC5 24-bit counter position
M2102->Y:$07A302,8,16,S ; OUT5A command value; DAC or PWM
M2103->X:$07A303,0,24,S ; ENC5 captured position
M2104->Y:$07A303,8,16,S ; OUT5B command value; DAC or PWM
M2105->Y:$07A305,8,16,S ; ADC5A input value
M2106->Y:$07A306,8,16,S ; ADC5B input value
M2107->Y:$07A304,8,16,S ; OUT5C command value; PFM or PWM
M2108->Y:$07A307,0,24,S ; ENC5 compare A position
M2109->X:$07A307,0,24,S ; ENC5 compare B position
M2110->X:$07A306,0,24,S ; ENC5 compare autoincrement value
M2111->X:$07A305,11 ; ENC5 compare initial state write enable
M2112->X:$07A305,12 ; ENC5 compare initial state
M2114->X:$07A305,14 ; AENA5 output status
M2115->X:$07A300,19 ; USER5 flag input status
M2116->X:$07A300,9 ; ENC5 compare output value
M2117->X:$07A300,11 ; ENC5 capture flag
M2118->X:$07A300,8 ; ENC5 count error flag
M2119->X:$07A300,14 ; CHC5 input status