Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 713
M2241->Y:$000B40,1,1 ; #22 Warning-following error bit
M2242->Y:$000B40,2,1 ; #22 Fatal-following-error bit
M2243->Y:$000B40,3,1 ; #22 Amplifier-fault-error bit
M2244->Y:$000B40,13,1 ; #22 Foreground in-position bit
M2245->Y:$000B40,10,1 ; #22 Home-complete bit
M2246->Y:$000B40,6,1 ; #22 Integrated following error fault bit
M2247->Y:$000B40,5,1 ; #22 I2T fault bit
M2248->Y:$000B40,8,1 ; #22 Phasing error fault bit
M2249->Y:$000B40,9,1 ; #22 Phasing search-in-progress bit
MACRO IC 2 Node 9 Flag Registers (usually used for Motor #22)
M2250->X:$003469,0,24 ; MACRO IC 2 Node 9 flag status register
M2251->Y:$003469,0,24 ; MACRO IC 2 Node 9 flag command register
M2253->X:$003469,20,4 ; MACRO IC 2 Node 9 TUVW flags
M2254->Y:$003469,14,1 ; MACRO IC 2 Node 9 amplifier enable flag
M2255->X:$003469,15,1 ; MACRO IC 2 Node 9 node/amplifier fault flag
M2256->X:$003469,16,1 ; MACRO IC 2 Node 9 home flag
M2257->X:$003469,17,1 ; MACRO IC 2 Node 9 positive limit flag
M2258->X:$003469,18,1 ; MACRO IC 2 Node 9 negative limit flag
M2259->X:$003469,19,1 ; MACRO IC 2 Node 9 user flag
Motor #22 Move Registers
M2261->D:$000B08 ; #22 Commanded position (1/[Ixx08*32] cts)
M2262->D:$000B0B ; #22 Actual position (1/[Ixx08*32] cts)
M2263->D:$000B47 ; #22 Target (end) position (1/[Ixx08*32] cts)
M2264->D:$000B4C ; #22 Position bias (1/[Ixx08*32] cts)
M2266->X:$000B1D,0,24,S ; #22 Actual velocity (1/[Ixx09*32] cts/cyc)
M2267->D:$000B0D ; #22 Present master pos (1/[Ixx07*32] cts)
M2268->X:$000B3F,8,16,S ; #22 Filter Output (16-bit DAC bits)
M2269->D:$000B10 ; #22 Compensation correction (1/[Ixx08*32] cts)
M2270->D:$000B34 ; #22 Present phase position (including fraction)
M2271->X:$000B34,24,S ; #22 Present phase position (counts *Ixx70)
M2272->L:$000B57 ; #22 Variable jog position/distance (cts)
M2273->Y:$000B4E,0,24,S ; #22 Encoder home capture position (cts)
M2274->D:$000B6F ; #22 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2275->X:$000B39,8,16,S ; #22 Actual quadrature current
M2276->Y:$000B39,8,16,S ; #22 Actual direct current
M2277->X:$000B3C,8,16,S ; #22 Quadrature current-loop integrator output
M2278->Y:$000B3C,8,16,S ; #22 Direct current-loop integrator output
M2279->X:$000B2E,8,16,S ; #22 PID internal filter result (16-bit DAC bits)
M2288->Y:$07A309,0,12,U ; IC 7 Ch 1 Compare A fractional count
M2289->Y:$07A308,0,12,U ; IC 7 Ch 1 Compare B fractional count
Motor #22 Axis Definition Registers
M2291->L:$000B4F ; #22 X/U/A/B/C-Axis scale factor (cts/unit)
M2292->L:$000B50 ; #22 Y/V-Axis scale factor (cts/unit)
M2293->L:$000B51 ; #22 Z/W-Axis scale factor (cts/unit)
M2294->L:$000B52 ; #22 Axis offset (cts)
Servo IC 7 Channel 3 Registers (usually for Motor #23)
M2301->X:$07A311,0,24,S ; ENC7 24-bit counter position
M2302->Y:$07A312,8,16,S ; OUT7A command value; DAC or PWM
M2303->X:$07A313,0,24,S ; ENC7 captured position
M2304->Y:$07A313,8,16,S ; OUT7B command value; DAC or PWM
M2305->Y:$07A315,8,16,S ; ADC7A input value