Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 729
M3226->X:$07B318,22 ; Channel 8 U flag input status
M3227->X:$07B318,23 ; Channel 8 T flag input status
M3228->X:$07B318,20,4 ; Channel 8 TUVW inputs as 4-bit value
Motor #32 Status Bits
M3230->Y:$001040,11,1 ; #32 Stopped-on-position-limit bit
M3231->X:$001030,21,1 ; #32 Positive-end-limit-set bit
M3232->X:$001030,22,1 ; #32 Negative-end-limit-set bit
M3233->X:$001030,13,1 ; #32 Desired-velocity-zero bit
M3235->X:$001030,15,1 ; #32 Dwell-in-progress bit
M3237->X:$001030,17,1 ; #32 Running-program bit
M3238->X:$001030,18,1 ; #32 Open-loop-mode bit
M3239->X:$001030,19,1 ; #32 Amplifier-enabled status bit
M3240->Y:$001040,0,1 ; #32 Background in-position bit
M3241->Y:$001040,1,1 ; #32 Warning-following error bit
M3242->Y:$001040,2,1 ; #32 Fatal-following-error bit
M3243->Y:$001040,3,1 ; #32 Amplifier-fault-error bit
M3244->Y:$001040,13,1 ; #32 Foreground in-position bit
M3245->Y:$001040,10,1 ; #32 Home-complete bit
M3246->Y:$001040,6,1 ; #32 Integrated following error fault bit
M3247->Y:$001040,5,1 ; #32 I2T fault bit
M3248->Y:$001040,8,1 ; #32 Phasing error fault bit
M3249->Y:$001040,9,1 ; #32 Phasing search-in-progress bit
MACRO IC 3 Node 13 Flag Registers (usually used for Motor #32)
M3250->X:$00347D,0,24 ; MACRO IC 3 Node 13 flag status register
M3251->Y:$00347D,0,24 ; MACRO IC 3 Node 13 flag command register
M3253->X:$00347D,20,4 ; MACRO IC 3 Node 13 TUVW flags
M3254->Y:$00347D,14,1 ; MACRO IC 3 Node 13 amplifier enable flag
M3255->X:$00347D,15,1 ; MACRO IC 3 Node 13 node/amplifier fault flag
M3256->X:$00347D,16,1 ; MACRO IC 3 Node 13 home flag
M3257->X:$00347D,17,1 ; MACRO IC 3 Node 13 positive limit flag
M3258->X:$00347D,18,1 ; MACRO IC 3 Node 13 negative limit flag
M3259->X:$00347D,19,1 ; MACRO IC 3 Node 13 user flag
Motor #32 Move Registers
M3261->D:$001008 ; #32 Commanded position (1/[Ixx08*32] cts)
M3262->D:$00100B ; #32 Actual position (1/[Ixx08*32] cts)
M3263->D:$001047 ; #32 Target (end) position (1/[Ixx08*32] cts)
M3264->D:$00104C ; #32 Position bias (1/[Ixx08*32] cts)
M3266->X:$00101D,0,24,S ; #32 Actual velocity (1/[Ixx09*32] cts/cyc)
M3267->D:$00100D ; #32 Present master pos (1/[Ixx07*32] cts)
M3268->X:$00103F,8,16,S ; #32 Filter Output (16-bit DAC bits)
M3269->D:$001010 ; #32 Compensation correction (1/[Ixx08*32] cts)
M3270->D:$001034 ; #32 Present phase position (including fraction)
M3271->X:$001034,24,S ; #32 Present phase position (counts *Ixx70)
M3272->L:$001057 ; #32 Variable jog position/distance (cts)
M3273->Y:$00104E,0,24,S ; #32 Encoder home capture position (cts)
M3274->D:$00106F ; #32 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M3275->X:$001039,8,16,S ; #32 Actual quadrature current
M3276->Y:$001039,8,16,S ; #32 Actual direct current
M3277->X:$00103C,8,16,S ; #32 Quadrature current-loop integrator output
M3278->Y:$00103C,8,16,S ; #32 Direct current-loop integrator output
M3279->X:$00102E,8,16,S ; #32 PID internal filter result (16-bit DAC bits)