Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 716
M2427->X:$07A318,23 ; Channel 8 T flag input status
M2428->X:$07A318,20,4 ; Channel 8 TUVW inputs as 4-bit value
Motor #24 Status Bits
M2430->Y:$000C40,11,1 ; #24 Stopped-on-position-limit bit
M2431->X:$000C30,21,1 ; #24 Positive-end-limit-set bit
M2432->X:$000C30,22,1 ; #24 Negative-end-limit-set bit
M2433->X:$000C30,13,1 ; #24 Desired-velocity-zero bit
M2435->X:$000C30,15,1 ; #24 Dwell-in-progress bit
M2437->X:$000C30,17,1 ; #24 Running-program bit
M2438->X:$000C30,18,1 ; #24 Open-loop-mode bit
M2439->X:$000C30,19,1 ; #24 Amplifier-enabled status bit
M2440->Y:$000C40,0,1 ; #24 Background in-position bit
M2441->Y:$000C40,1,1 ; #24 Warning-following error bit
M2442->Y:$000C40,2,1 ; #24 Fatal-following-error bit
M2443->Y:$000C40,3,1 ; #24 Amplifier-fault-error bit
M2444->Y:$000C40,13,1 ; #24 Foreground in-position bit
M2445->Y:$000C40,10,1 ; #24 Home-complete bit
M2446->Y:$000C40,6,1 ; #24 Integrated following error fault bit
M2447->Y:$000C40,5,1 ; #24 I2T fault bit
M2448->Y:$000C40,8,1 ; #24 Phasing error fault bit
M2449->Y:$000C40,9,1 ; #24 Phasing search-in-progress bit
MACRO IC 2 Node 13 Flag Registers (usually used for Motor #24)
M2450->X:$00346D,0,24 ; MACRO IC 2 Node 13 flag status register
M2451->Y:$00346D,0,24 ; MACRO IC 2 Node 13 flag command register
M2453->X:$00346D,20,4 ; MACRO IC 2 Node 13 TUVW flags
M2454->Y:$00346D,14,1 ; MACRO IC 2 Node 13 amplifier enable flag
M2455->X:$00346D,15,1 ; MACRO IC 2 Node 13 node/amplifier fault flag
M2456->X:$00346D,16,1 ; MACRO IC 2 Node 13 home flag
M2457->X:$00346D,17,1 ; MACRO IC 2 Node 13 positive limit flag
M2458->X:$00346D,18,1 ; MACRO IC 2 Node 13 negative limit flag
M2459->X:$00346D,19,1 ; MACRO IC 2 Node 13 user flag
Motor #24 Move Registers
M2461->D:$000C08 ; #24 Commanded position (1/[Ixx08*32] cts)
M2462->D:$000C0B ; #24 Actual position (1/[Ixx08*32] cts)
M2463->D:$000C47 ; #24 Target (end) position (1/[Ixx08*32] cts)
M2464->D:$000C4C ; #24 Position bias (1/[Ixx08*32] cts)
M2466->X:$000C1D,0,24,S ; #24 Actual velocity (1/[Ixx09*32] cts/cyc)
M2467->D:$000C0D ; #24 Present master pos (1/[Ixx07*32] cts)
M2468->X:$000C3F,8,16,S ; #24 Filter Output (16-bit DAC bits)
M2469->D:$000C10 ; #24 Compensation correction (1/[Ixx08*32] cts)
M2470->D:$000C34 ; #24 Present phase position (including fraction)
M2471->X:$000C34,24,S ; #24 Present phase position (counts *Ixx70)
M2472->L:$000C57 ; #24 Variable jog position/distance (cts)
M2473->Y:$000C4E,0,24,S ; #24 Encoder home capture position (cts)
M2474->D:$000C6F ; #24 Averaged actual velocity (1/[Ixx09*32] cts/cyc)
M2475->X:$000C39,8,16,S ; #24 Actual quadrature current
M2476->Y:$000C39,8,16,S ; #24 Actual direct current
M2477->X:$000C3C,8,16,S ; #24 Quadrature current-loop integrator output
M2478->Y:$000C3C,8,16,S ; #24 Direct current-loop integrator output
M2479->X:$000C2E,8,16,S ; #24 PID internal filter result (16-bit DAC bits)
M2488->Y:$07A319,0,12,U ; IC 7 Ch 4 Compare A fractional count