Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Suggested M-Variable Definitions 577
M1506->Y:$078308,0,24,U ; ENC7 time between counts (SCLK cycles)
M1510->X:$078308,10,1 ; ENC7 count-write enable control
M1511->X:$078308,11,1 ; EQU7 compare flag latch control
M1512->X:$078308,12,1 ; EQU7 compare output enable
M1513->X:$078308,13,1 ; EQU7 compare invert enable
M1514->X:$078308,14,1 ; AENA7/DIR7 Output
M1516->X:$078308,16,1 ; EQU7 compare flag
M1517->X:$078308,17,1 ; ENC7 position-captured flag
M1518->X:$078308,18,1 ; ENC7 Count-error flag
M1519->X:$078308,19,1 ; ENC7 3rd channel input status
M1520->X:$078308,20,1 ; HMFL7 input status
M1521->X:$078308,21,1 ; -LIM7 (positive end) input status
M1522->X:$078308,22,1 ; +LIM7 (negative end) input status
M1523->X:$078308,23,1 ; FAULT7 input status
Motor #15 Status Bits
M1530->Y:$0007C0,11,1 ; #15 Stopped-on-position-limit bit
M1531->X:$0007B0,21,1 ; #15 Positive-end-limit-set bit
M1532->X:$0007B0,22,1 ; #15 Negative-end-limit-set bit
M1533->X:$0007B0,13,1 ; #15 Desired-velocity-zero bit
M1535->X:$0007B0,15,1 ; #15 Dwell-in-progress bit
M1537->X:$0007B0,17,1 ; #15 Running-program bit
M1538->X:$0007B0,18,1 ; #15 Open-loop-mode bit
M1539->X:$0007B0,19,1 ; #15 Amplifier-enabled status bit
M1540->Y:$0007C0,0,1 ; #15 Background in-position bit
M1541->Y:$0007C0,1,1 ; #15 Warning-following error bit
M1542->Y:$0007C0,2,1 ; #15 Fatal-following-error bit
M1543->Y:$0007C0,3,1 ; #15 Amplifier-fault-error bit
M1544->Y:$0007C0,13,1 ; #15 Foreground in-position bit
M1545->Y:$0007C0,10,1 ; #15 Home-complete bit
M1546->Y:$0007C0,6,1 ; #15 Integrated following error fault bit
M1547->Y:$0007C0,5,1 ; #15 I2T fault bit
M1548->Y:$0007C0,8,1 ; #15 Phasing error fault bit
M1549->Y:$0007C0,9,1 ; #15 Phasing search-in-progress bit
Motor #15 Move Registers
M1561->D:$000788 ; #15 Commanded position (1/[Ixx08*32] cts)
M1562->D:$00078B ; #15 Actual position (1/[Ixx08*32] cts)
M1563->D:$0007C7 ; #15 Target (end) position (1/[Ixx08*32] cts)
M1564->D:$0007CC ; #15 Position bias (1/[Ixx08*32] cts)
M1566->X:$00079D,0,24,S ; #15 Actual velocity (1/[Ixx09*32] cts/cyc)
M1567->D:$00078D ; #15 Present master pos (1/[Ixx07*32] cts)
M1568->X:$0007BF,8,16,S ; #15 Filter Output (16-bit DAC bits)
M1569->D:$000790 ; #15 Compensation correction (1/[Ixx08*32] cts)
M1570->D:$0007B4 ; #15 Present phase position (including fraction)
M1571->X:$0007B4,24,S ; #15 Present phase position (counts *Ixx70)
M1572->L:$0007D7 ; #15 Variable jog position/distance (cts)
M1573->Y:$0007CE,0,24,S ; #15 Encoder home capture position (cts)
M1574->D:$0007EF ; #15 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M1575->X:$0007B9,8,16,S ; #15 Actual quadrature current
M1576->Y:$0007B9,8,16,S ; #15 Actual direct current
M1577->X:$0007BC,8,16,S ; #15 Quadrature current-loop integrator output
M1578->Y:$0007BC,8,16,S ; #15 Direct current-loop integrator output