Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 625
M888->Y:$078119,0,12,U ; IC 1 Ch 4 Compare A fractional count
M889->Y:$078118,0,12,U ; IC 1 Ch 4 Compare B fractional count
Motor #8 Axis Definition Registers
M891->L:$00044F ; #8 X/U/A/B/C-Axis scale factor (cts/unit)
M892->L:$000450 ; #8 Y/V-Axis scale factor (cts/unit)
M893->L:$000451 ; #8 Z/W-Axis scale factor (cts/unit)
M894->L:$000452 ; #8 Axis offset (cts)
Servo IC 2 Registers for First Acc-24 Channel 1 (usually for Motor #9)
M901->X:$078201,0,24,S ; ENC1 24-bit counter position
M902->Y:$078202,8,16,S ; OUT1A command value; DAC or PWM
M903->X:$078203,0,24,S ; ENC1 captured position
M904->Y:$078203,8,16,S ; OUT1B command value; DAC or PWM
M905->Y:$078205,8,16,S ; ADC1A input value
M906->Y:$078206,8,16,S ; ADC1B input value
M907->Y:$078204,8,16,S ; OUT1C command value; PFM or PWM
M908->Y:$078207,0,24,S ; ENC1 compare A position
M909->X:$078207,0,24,S ; ENC1 compare B position
M910->X:$078206,0,24,S ; ENC1 compare autoincrement value
M911->X:$078205,11 ; ENC1 compare initial state write enable
M912->X:$078205,12 ; ENC1 compare initial state
M914->X:$078205,14 ; AENA1 output status
M915->X:$078200,19 ; USER1 flag input status
M916->X:$078200,9 ; ENC1 compare output value
M917->X:$078200,11 ; ENC1 capture flag
M918->X:$078200,8 ; ENC1 count error flag
M919->X:$078200,14 ; CHC1 input status
M920->X:$078200,16 ; HMFL1 flag input status
M921->X:$078200,17 ; PLIM1 flag input status
M922->X:$078200,18 ; MLIM1 flag input status
M923->X:$078200,15 ; FAULT1 flag input status
M924->X:$078200,20 ; Channel 1 W flag input status
M925->X:$078200,21 ; Channel 1 V flag input status
M926->X:$078200,22 ; Channel 1 U flag input status
M927->X:$078200,23 ; Channel 1 T flag input status
M928->X:$078200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #9 Status Bits
M930->Y:$0004C0,11,1 ; #9 Stopped-on-position-limit bit
M931->X:$0004B0,21,1 ; #9 Positive-end-limit-set bit
M932->X:$0004B0,22,1 ; #9 Negative-end-limit-set bit
M933->X:$0004B0,13,1 ; #9 Desired-velocity-zero bit
M935->X:$0004B0,15,1 ; #9 Dwell-in-progress bit
M937->X:$0004B0,17,1 ; #9 Running-program bit
M938->X:$0004B0,18,1 ; #9 Open-loop-mode bit
M939->X:$0004B0,19,1 ; #9 Amplifier-enabled status bit
M940->Y:$0004C0,0,1 ; #9 Background in-position bit
M941->Y:$0004C0,1,1 ; #9 Warning-following error bit
M942->Y:$0004C0,2,1 ; #9 Fatal-following-error bit
M943->Y:$0004C0,3,1 ; #9 Amplifier-fault-error bit
M944->Y:$0004C0,13,1 ; #9 Foreground in-position bit
M945->Y:$0004C0,10,1 ; #9 Home-complete bit
M946->Y:$0004C0,6,1 ; #9 Integrated following error fault bit