Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 721
M2733->X:$000DB0,13,1 ; #27 Desired-velocity-zero bit
M2735->X:$000DB0,15,1 ; #27 Dwell-in-progress bit
M2737->X:$000DB0,17,1 ; #27 Running-program bit
M2738->X:$000DB0,18,1 ; #27 Open-loop-mode bit
M2739->X:$000DB0,19,1 ; #27 Amplifier-enabled status bit
M2740->Y:$000DC0,0,1 ; #27 Background in-position bit
M2741->Y:$000DC0,1,1 ; #27 Warning-following error bit
M2742->Y:$000DC0,2,1 ; #27 Fatal-following-error bit
M2743->Y:$000DC0,3,1 ; #27 Amplifier-fault-error bit
M2744->Y:$000DC0,13,1 ; #27 Foreground in-position bit
M2745->Y:$000DC0,10,1 ; #27 Home-complete bit
M2746->Y:$000DC0,6,1 ; #27 Integrated following error fault bit
M2747->Y:$000DC0,5,1 ; #27 I2T fault bit
M2748->Y:$000DC0,8,1 ; #27 Phasing error fault bit
M2749->Y:$000DC0,9,1 ; #27 Phasing search-in-progress bit
MACRO IC 3 Node 4 Flag Registers (usually used for Motor #27)
M2750->X:$003474,0,24 ; MACRO IC 3 Node 4 flag status register
M2751->Y:$003474,0,24 ; MACRO IC 3 Node 4 flag command register
M2753->X:$003474,20,4 ; MACRO IC 3 Node 4 TUVW flags
M2754->Y:$003474,14,1 ; MACRO IC 3 Node 4 amplifier enable flag
M2755->X:$003474,15,1 ; MACRO IC 3 Node 4 node/amplifier fault flag
M2756->X:$003474,16,1 ; MACRO IC 3 Node 4 home flag
M2757->X:$003474,17,1 ; MACRO IC 3 Node 4 positive limit flag
M2758->X:$003474,18,1 ; MACRO IC 3 Node 4 negative limit flag
M2759->X:$003474,19,1 ; MACRO IC 3 Node 4 user flag
Motor #27 Move Registers
M2761->D:$000D88 ; #27 Commanded position (1/[Ixx08*32] cts)
M2762->D:$000D8B ; #27 Actual position (1/[Ixx08*32] cts)
M2763->D:$000DC7 ; #27 Target (end) position (1/[Ixx08*32] cts)
M2764->D:$000DCC ; #27 Position bias (1/[Ixx08*32] cts)
M2766->X:$000D9D,0,24,S ; #27 Actual velocity (1/[Ixx09*32] cts/cyc)
M2767->D:$000D8D ; #27 Present master pos (1/[Ixx07*32] cts)
M2768->X:$000DBF,8,16,S ; #27 Filter Output (16-bit DAC bits)
M2769->D:$000D90 ; #27 Compensation correction (1/[Ixx08*32] cts)
M2770->D:$000DB4 ; #27 Present phase position (including fraction)
M2771->X:$000DB4,24,S ; #27 Present phase position (counts *Ixx70)
M2772->L:$000DD7 ; #27 Variable jog position/distance (cts)
M2773->Y:$000DCE,0,24,S ; #27 Encoder home capture position (cts)
M2774->D:$000DEF ; #27 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2775->X:$000DB9,8,16,S ; #27 Actual quadrature current
M2776->Y:$000DB9,8,16,S ; #27 Actual direct current
M2777->X:$000DBC,8,16,S ; #27 Quadrature current-loop integrator output
M2778->Y:$000DBC,8,16,S ; #27 Direct current-loop integrator output
M2779->X:$000DAE,8,16,S ; #27 PID internal filter result (16-bit DAC bits)
M2788->Y:$07B211,0,12,U ; IC 8 Ch 3 Compare A fractional count
M2789->Y:$07B210,0,12,U ; IC 8 Ch 3 Compare B fractional count
Motor #27 Axis Definition Registers
M2791->L:$000DCF ; #27 X/U/A/B/C-Axis scale factor (cts/unit)
M2792->L:$000DD0 ; #27 Y/V-Axis scale factor (cts/unit)
M2793->L:$000DD1 ; #27 Z/W-Axis scale factor (cts/unit)
M2794->L:$000DD2 ; #27 Axis offset (cts)