Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 635
Servo IC 3 Registers for First Acc-24 Channel 7 (usually for Motor #15)
M1501->X:$078311,0,24,S ; ENC7 24-bit counter position
M1502->Y:$078312,8,16,S ; OUT7A command value; DAC or PWM
M1503->X:$078313,0,24,S ; ENC7 captured position
M1504->Y:$078313,8,16,S ; OUT7B command value; DAC or PWM
M1505->Y:$078315,8,16,S ; ADC7A input value
M1506->Y:$078316,8,16,S ; ADC7B input value
M1507->Y:$078314,8,16,S ; OUT7C command value; PFM or PWM
M1508->Y:$078317,0,24,S ; ENC7 compare A position
M1509->X:$078317,0,24,S ; ENC7 compare B position
M1510->X:$078316,0,24,S ; ENC7 compare autoincrement value
M1511->X:$078315,11 ; ENC7 compare initial state write enable
M1512->X:$078315,12 ; ENC7 compare initial state
M1514->X:$078315,14 ; AENA7 output status
M1515->X:$078310,19 ; CHC7 input status
M1516->X:$078310,9 ; ENC7 compare output value
M1517->X:$078310,11 ; ENC7 capture flag
M1518->X:$078310,8 ; ENC7 count error flag
M1519->X:$078310,14 ; CHC7 input status
M1520->X:$078310,16 ; HMFL7 flag input status
M1521->X:$078310,17 ; PLIM7 flag input status
M1522->X:$078310,18 ; MLIM7 flag input status
M1523->X:$078310,15 ; FAULT7 flag input status
M1524->X:$078310,20 ; Channel 7 W flag input status
M1525->X:$078310,21 ; Channel 7 V flag input status
M1526->X:$078310,22 ; Channel 7 U flag input status
M1527->X:$078310,23 ; Channel 7 T flag input status
M1528->X:$078310,20,4 ; Channel 7 TUVW inputs as 4-bit value
Motor #15 Status Bits
M1530->Y:$0007C0,11,1 ; #15 Stopped-on-position-limit bit
M1531->X:$0007B0,21,1 ; #15 Positive-end-limit-set bit
M1532->X:$0007B0,22,1 ; #15 Negative-end-limit-set bit
M1533->X:$0007B0,13,1 ; #15 Desired-velocity-zero bit
M1535->X:$0007B0,15,1 ; #15 Dwell-in-progress bit
M1537->X:$0007B0,17,1 ; #15 Running-program bit
M1538->X:$0007B0,18,1 ; #15 Open-loop-mode bit
M1539->X:$0007B0,19,1 ; #15 Amplifier-enabled status bit
M1540->Y:$0007C0,0,1 ; #15 Background in-position bit
M1541->Y:$0007C0,1,1 ; #15 Warning-following error bit
M1542->Y:$0007C0,2,1 ; #15 Fatal-following-error bit
M1543->Y:$0007C0,3,1 ; #15 Amplifier-fault-error bit
M1544->Y:$0007C0,13,1 ; #15 Foreground in-position bit
M1545->Y:$0007C0,10,1 ; #15 Home-complete bit
M1546->Y:$0007C0,6,1 ; #15 Integrated following error fault bit
M1547->Y:$0007C0,5,1 ; #15 I2T fault bit
M1548->Y:$0007C0,8,1 ; #15 Phasing error fault bit
M1549->Y:$0007C0,9,1 ; #15 Phasing search-in-progress bit
MACRO IC 1 Node 12 Flag Registers (usually used for Motor #15)
M1550->X:$00345C,0,24 ; MACRO IC 1 Node 12 flag status register
M1551->Y:$00345C,0,24 ; MACRO IC 1 Node 12 flag command register
M1553->X:$00345C,20,4 ; MACRO IC 1 Node 12 TUVW flags