Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 617
Servo IC 0 Registers for PMAC2 Channel 4 (usually for Motor #4)
M401->X:$078019,0,24,S ; ENC4 24-bit counter position
M402->Y:$07801A,8,16,S ; OUT4A command value; DAC or PWM
M403->X:$07801B,0,24,S ; ENC4 captured position
M404->Y:$07801B,8,16,S ; OUT4B command value; DAC or PWM
M405->Y:$07801D,8,16,S ; ADC4A input value
M406->Y:$07801E,8,16,S ; ADC4B input value
M407->Y:$07801C,8,16,S ; OUT4C command value; PFM or PWM
M408->Y:$07801F,0,24,S ; ENC4 compare A position
M409->X:$07801F,0,24,S ; ENC4 compare B position
M410->X:$07801E,0,24,S ; ENC4 compare autoincrement value
M411->X:$07801D,11 ; ENC4 compare initial state write enable
M412->X:$07801D,12 ; ENC4 compare initial state
M414->X:$07801D,14 ; AENA4 output status
M415->X:$078018,19 ; USER4 flag input status
M416->X:$078018,9 ; ENC4 compare output value
M417->X:$078018,11 ; ENC4 capture flag
M418->X:$078018,8 ; ENC4 count error flag
M419->X:$078018,14 ; CHC4 flag input status
M420->X:$078018,16 ; HMFL4 input status
M421->X:$078018,17 ; PLIM4 flag input status
M422->X:$078018,18 ; MLIM4 flag input status
M423->X:$078018,15 ; FAULT4 flag input status
M424->X:$078018,20 ; Channel 4 W flag input status
M425->X:$078018,21 ; Channel 4 V flag input status
M426->X:$078018,22 ; Channel 4 U flag input status
M427->X:$078018,23 ; Channel 4 T flag input status
M428->X:$078018,20,4 ; Channel 4 TUVW inputs as 4-bit value
Motor #4 Status Bits
M430->Y:$000240,11,1 ; #4 Stopped-on-position-limit bit
M431->X:$000230,21,1 ; #4 Positive-end-limit-set bit
M432->X:$000230,22,1 ; #4 Negative-end-limit-set bit
M433->X:$000230,13,1 ; #4 Desired-velocity-zero bit
M435->X:$000230,15,1 ; #4 Dwell-in-progress bit
M437->X:$000230,17,1 ; #4 Running-program bit
M438->X:$000230,18,1 ; #4 Open-loop-mode bit
M439->X:$000230,19,1 ; #4 Amplifier-enabled status bit
M440->Y:$000240,0,1 ; #4 Background in-position bit
M441->Y:$000240,1,1 ; #4 Warning-following error bit
M442->Y:$000240,2,1 ; #4 Fatal-following-error bit
M443->Y:$000240,3,1 ; #4 Amplifier-fault-error bit
M444->Y:$000240,13,1 ; #4 Foreground in-position bit
M445->Y:$000240,10,1 ; #4 Home-complete bit
M446->Y:$000240,6,1 ; #4 Integrated following error fault bit
M447->Y:$000240,5,1 ; #4 I2T fault bit
M448->Y:$000240,8,1 ; #4 Phasing error fault bit
M449->Y:$000240,9,1 ; #4 Phasing search-in-progress bit
MACRO IC 0 Node 5 Flag Registers (usually used for Motor #4)
M450->X:$003445,0,24 ; MACRO IC 0 Node 5 flag status register
M451->Y:$003445,0,24 ; MACRO IC 0 Node 5 flag command register
M453->X:$003445,20,4 ; MACRO IC 0 Node 5 TUVW flags