Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 682
M349->Y:$0001C0,9,1 ; #3 Phasing search-in-progress bit
MACRO IC 0 Node 4 Flag Registers (usually used for Motor #3)
M350->X:$003444,0,24 ; MACRO IC 0 Node 4 flag status register
M351->Y:$003444,0,24 ; MACRO IC 0 Node 4 flag command register
M353->X:$003444,20,4 ; MACRO IC 0 Node 4 TUVW flags
M354->Y:$003444,14,1 ; MACRO IC 0 Node 4 amplifier enable flag
M355->X:$003444,15,1 ; MACRO IC 0 Node 4 node/amplifier fault flag
M356->X:$003444,16,1 ; MACRO IC 0 Node 4 home flag
M357->X:$003444,17,1 ; MACRO IC 0 Node 4 positive limit flag
M358->X:$003444,18,1 ; MACRO IC 0 Node 4 negative limit flag
M359->X:$003444,19,1 ; MACRO IC 0 Node 4 user flag
Motor #3 Move Registers
M361->D:$000188 ; #3 Commanded position (1/[Ixx08*32] cts)
M362->D:$00018B ; #3 Actual position (1/[Ixx08*32] cts)
M363->D:$0001C7 ; #3 Target (end) position (1/[Ixx08*32] cts)
M364->D:$0001CC ; #3 Position bias (1/[Ixx08*32] cts)
M366->X:$00019D,0,24,S ; #3 Actual velocity (1/[Ixx09*32] cts/cyc)
M367->D:$00018D ; #3 Present master pos (1/[Ixx07*32] cts)
M368->X:$0001BF,8,16,S ; #3 Filter Output (16-bit DAC bits)
M369->D:$000190 ; #3 Compensation correction (1/[Ixx08*32] cts)
M370->D:$0001B4 ; #3 Present phase position (including fraction)
M371->X:$0001B4,24,S ; #3 Present phase position (counts *Ixx70)
M372->L:$0001D7 ; #3 Variable jog position/distance (cts)
M373->Y:$0001CE,0,24,S ; #3 Encoder home capture position (cts)
M374->D:$0001EF ; #3 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M375->X:$0001B9,8,16,S ; #3 Actual quadrature current
M376->Y:$0001B9,8,16,S ; #3 Actual direct current
M377->X:$0001BC,8,16,S ; #3 Quadrature current-loop integrator output
M378->Y:$0001BC,8,16,S ; #3 Direct current-loop integrator output
M379->X:$0001AE,8,16,S ; #3 PID internal filter result (16-bit DAC bits)
M388->Y:$078211,0,12,U ; IC 2 Ch 3 Compare A fractional count
M389->Y:$078210,0,12,U ; IC 2 Ch 3 Compare B fractional count
Motor #3 Axis Definition Registers
M391->L:$0001CF ; #3 X/U/A/B/C-Axis scale factor (cts/unit)
M392->L:$0001D0 ; #3 Y/V-Axis scale factor (cts/unit)
M393->L:$0001D1 ; #3 Z/W-Axis scale factor (cts/unit)
M394->L:$0001D2 ; #3 Axis offset (cts)
Servo IC 2 Channel 4 Registers (usually for Motor #4)
M401->X:$078219,0,24,S ; ENC4 24-bit counter position
M402->Y:$07821A,8,16,S ; OUT4A command value; DAC or PWM
M403->X:$07821B,0,24,S ; ENC4 captured position
M404->Y:$07821B,8,16,S ; OUT4B command value; DAC or PWM
M405->Y:$07821D,8,16,S ; ADC4A input value
M406->Y:$07821E,8,16,S ; ADC4B input value
M407->Y:$07821C,8,16,S ; OUT4C command value; PFM or PWM
M408->Y:$07821F,0,24,S ; ENC4 compare A position
M409->X:$07821F,0,24,S ; ENC4 compare B position
M410->X:$07821E,0,24,S ; ENC4 compare autoincrement value
M411->X:$07821D,11 ; ENC4 compare initial state write enable
M412->X:$07821D,12 ; ENC4 compare initial state
M414->X:$07821D,14 ; AENA4 output status