Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 706
M1815->X:$07A208,19 ; USER2 flag input status
M1816->X:$07A208,9 ; ENC2 compare output value
M1817->X:$07A208,11 ; ENC2 capture flag
M1818->X:$07A208,8 ; ENC2 count error flag
M1819->X:$07A208,14 ; CHC2 input status
M1820->X:$07A208,16 ; HMFL2 flag input status
M1821->X:$07A208,17 ; PLIM2 flag input status
M1822->X:$07A208,18 ; MLIM2 flag input status
M1823->X:$07A208,15 ; FAULT2 flag input status
M1824->X:$07A208,20 ; Channel 2 W flag input status
M1825->X:$07A208,21 ; Channel 2 V flag input status
M1826->X:$07A208,22 ; Channel 2 U flag input status
M1827->X:$07A208,23 ; Channel 2 T flag input status
M1828->X:$07A208,20,4 ; Channel 2 TUVW inputs as 4-bit value
Motor #18 Status Bits
M1830->Y:$000940,11,1 ; #18 Stopped-on-position-limit bit
M1831->X:$000930,21,1 ; #18 Positive-end-limit-set bit
M1832->X:$000930,22,1 ; #18 Negative-end-limit-set bit
M1833->X:$000930,13,1 ; #18 Desired-velocity-zero bit
M1835->X:$000930,15,1 ; #18 Dwell-in-progress bit
M1837->X:$000930,17,1 ; #18 Running-program bit
M1838->X:$000930,18,1 ; #18 Open-loop-mode bit
M1839->X:$000930,19,1 ; #18 Amplifier-enabled status bit
M1840->Y:$000940,0,1 ; #18 Background in-position bit
M1841->Y:$000940,1,1 ; #18 Warning-following error bit
M1842->Y:$000940,2,1 ; #18 Fatal-following-error bit
M1843->Y:$000940,3,1 ; #18 Amplifier-fault-error bit
M1844->Y:$0008C0,13,1 ; #18 Foreground in-position bit
M1845->Y:$000940,10,1 ; #18 Home-complete bit
M1846->Y:$000940,6,1 ; #18 Integrated following error fault bit
M1847->Y:$000940,5,1 ; #18 I2T fault bit
M1848->Y:$000940,8,1 ; #18 Phasing error fault bit
M1849->Y:$000940,9,1 ; #18 Phasing search-in-progress bit
MACRO IC 2 Node 1 Flag Registers (usually used for Motor #18)
M1850->X:$003461,0,24 ; MACRO IC 2 Node 1 flag status register
M1851->Y:$003461,0,24 ; MACRO IC 2 Node 1 flag command register
M1853->X:$003461,20,4 ; MACRO IC 2 Node 1 TUVW flags
M1854->Y:$003461,14,1 ; MACRO IC 2 Node 1 amplifier enable flag
M1855->X:$003461,15,1 ; MACRO IC 2 Node 1 node/amplifier fault flag
M1856->X:$003461,16,1 ; MACRO IC 2 Node 1 home flag
M1857->X:$003461,17,1 ; MACRO IC 2 Node 1 positive limit flag
M1858->X:$003461,18,1 ; MACRO IC 2 Node 1 negative limit flag
M1859->X:$003461,19,1 ; MACRO IC 2 Node 1 user flag
Motor #18 Move Registers
M1861->D:$000908 ; #18 Commanded position (1/[Ixx08*32] cts)
M1862->D:$00090B ; #18 Actual position (1/[Ixx08*32] cts)
M1863->D:$000947 ; #18 Target (end) position (1/[Ixx08*32] cts)
M1864->D:$00094C ; #18 Position bias (1/[Ixx08*32] cts)
M1866->X:$00091D,0,24,S ; #18 Actual velocity (1/[Ixx09*32] cts/cyc)
M1867->D:$00090D ; #18 Present master pos (1/[Ixx07*32] cts)
M1868->X:$00093F,8,16,S ; #18 Filter Output (16-bit DAC bits)