Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 688
M716->X:$078310,9 ; ENC7 compare output value
M717->X:$078310,11 ; ENC7 capture flag
M718->X:$078310,8 ; ENC7 count error flag
M719->X:$078310,14 ; CHC7 input status
M720->X:$078310,16 ; HMFL7 flag input status
M721->X:$078310,17 ; PLIM7 flag input status
M722->X:$078310,18 ; MLIM7 flag input status
M723->X:$078310,15 ; FAULT7 flag input status
M724->X:$078310,20 ; Channel 7 W flag input status
M725->X:$078310,21 ; Channel 7 V flag input status
M726->X:$078310,22 ; Channel 7 U flag input status
M727->X:$078310,23 ; Channel 7 T flag input status
M728->X:$078310,20,4 ; Channel 7 TUVW inputs as 4-bit value
Motor #7 Status Bits
M730->Y:$0003C0,11,1 ; #7 Stopped-on-position-limit bit
M731->X:$0003B0,21,1 ; #7 Positive-end-limit-set bit
M732->X:$0003B0,22,1 ; #7 Negative-end-limit-set bit
M733->X:$0003B0,13,1 ; #7 Desired-velocity-zero bit
M735->X:$0003B0,15,1 ; #7 Dwell-in-progress bit
M737->X:$0003B0,17,1 ; #7 Running-program bit
M738->X:$0003B0,18,1 ; #7 Open-loop-mode bit
M739->X:$0003B0,19,1 ; #7 Amplifier-enabled status bit
M740->Y:$0003C0,0,1 ; #7 Background in-position bit
M741->Y:$0003C0,1,1 ; #7 Warning-following error bit
M742->Y:$0003C0,2,1 ; #7 Fatal-following-error bit
M743->Y:$0003C0,3,1 ; #7 Amplifier-fault-error bit
M744->Y:$0003C0,13,1 ; #7 Foreground in-position bit
M745->Y:$0003C0,10,1 ; #7 Home-complete bit
M746->Y:$0003C0,6,1 ; #7 Integrated following error fault bit
M747->Y:$0003C0,5,1 ; #7 I2T fault bit
M748->Y:$0003C0,8,1 ; #7 Phasing error fault bit
M749->Y:$0003C0,9,1 ; #7 Phasing search-in-progress bit
MACRO IC 0 Node 12 Flag Registers (usually used for Motor #7)
M750->X:$00344C,0,24 ; MACRO IC 0 Node 12 flag status register
M751->Y:$00344C,0,24 ; MACRO IC 0 Node 12 flag command register
M753->X:$00344C,20,4 ; MACRO IC 0 Node 12 TUVW flags
M754->Y:$00344C,14,1 ; MACRO IC 0 Node 12 amplifier enable flag
M755->X:$00344C,15,1 ; MACRO IC 0 Node 12 node/amplifier fault flag
M756->X:$00344C,16,1 ; MACRO IC 0 Node 12 home flag
M757->X:$00344C,17,1 ; MACRO IC 0 Node 12 positive limit flag
M758->X:$00344C,18,1 ; MACRO IC 0 Node 12 negative limit flag
M759->X:$00344C,19,1 ; MACRO IC 0 Node 12 user flag
Motor #7 Move Registers
M761->D:$000388 ; #7 Commanded position (1/[Ixx08*32] cts)
M762->D:$00038B ; #7 Actual position (1/[Ixx08*32] cts)
M763->D:$0003C7 ; #7 Target (end) position (1/[Ixx08*32] cts)
M764->D:$0003CC ; #7 Position bias (1/[Ixx08*32] cts)
M766->X:$00039D,0,24,S ; #7 Actual velocity (1/[Ixx09*32] cts/cyc)
M767->D:$00038D ; #7 Present master pos (1/[Ixx07*32] cts)
M768->X:$0003BF,8,16,S ; #7 Filter Output (16-bit DAC bits)
M769->D:$000390 ; #7 Compensation correction (1/[Ixx08*32] cts)