Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 645
M2112->X:$079305,12 ; ENC5 compare initial state
M2114->X:$079305,14 ; AENA5 output status
M2115->X:$079300,19 ; USER5 flag input status
M2116->X:$079300,9 ; ENC5 compare output value
M2117->X:$079300,11 ; ENC5 capture flag
M2118->X:$079300,8 ; ENC5 count error flag
M2119->X:$079300,14 ; CHC5 input status
M2120->X:$079300,16 ; HMFL5 flag input status
M2121->X:$079300,17 ; PLIM5 flag input status
M2122->X:$079300,18 ; MLIM5 flag input status
M2123->X:$079300,15 ; FAULT5 flag input status
M2124->X:$079300,20 ; Channel 5 W flag input status
M2125->X:$079300,21 ; Channel 5 V flag input status
M2126->X:$079300,22 ; Channel 5 U flag input status
M2127->X:$079300,23 ; Channel 5 T flag input status
M2128->X:$079300,20,4 ; Channel 5 TUVW inputs as 4-bit value
Motor #21 Status Bits
M2130->Y:$000AC0,11,1 ; #21 Stopped-on-position-limit bit
M2131->X:$000AB0,21,1 ; #21 Positive-end-limit-set bit
M2132->X:$000AB0,22,1 ; #21 Negative-end-limit-set bit
M2133->X:$000AB0,13,1 ; #21 Desired-velocity-zero bit
M2135->X:$000AB0,15,1 ; #21 Dwell-in-progress bit
M2137->X:$000AB0,17,1 ; #21 Running-program bit
M2138->X:$000AB0,18,1 ; #21 Open-loop-mode bit
M2139->X:$000AB0,19,1 ; #21 Amplifier-enabled status bit
M2140->Y:$000AC0,0,1 ; #21 Background in-position bit
M2141->Y:$000AC0,1,1 ; #21 Warning-following error bit
M2142->Y:$000AC0,2,1 ; #21 Fatal-following-error bit
M2143->Y:$000AC0,3,1 ; #21 Amplifier-fault-error bit
M2144->Y:$000AC0,13,1 ; #21 Foreground in-position bit
M2145->Y:$000AC0,10,1 ; #21 Home-complete bit
M2146->Y:$000AC0,6,1 ; #21 Integrated following error fault bit
M2147->Y:$000AC0,5,1 ; #21 I2T fault bit
M2148->Y:$000AC0,8,1 ; #21 Phasing error fault bit
M2149->Y:$000AC0,9,1 ; #21 Phasing search-in-progress bit
MACRO IC 2 Node 8 Flag Registers (usually used for Motor #21)
M2150->X:$003468,0,24 ; MACRO IC 2 Node 8 flag status register
M2151->Y:$003468,0,24 ; MACRO IC 2 Node 8 flag command register
M2153->X:$003468,20,4 ; MACRO IC 2 Node 8 TUVW flags
M2154->Y:$003468,14,1 ; MACRO IC 2 Node 8 amplifier enable flag
M2155->X:$003468,15,1 ; MACRO IC 2 Node 8 node/amplifier fault flag
M2156->X:$003468,16,1 ; MACRO IC 2 Node 8 home flag
M2157->X:$003468,17,1 ; MACRO IC 2 Node 8 positive limit flag
M2158->X:$003468,18,1 ; MACRO IC 2 Node 8 negative limit flag
M2159->X:$003468,19,1 ; MACRO IC 2 Node 8 user flag
Motor #21 Move Registers
M2161->D:$000A88 ; #21 Commanded position (1/[Ixx08*32] cts)
M2162->D:$000A8B ; #21 Actual position (1/[Ixx08*32] cts)
M2163->D:$000AC7 ; #21 Target (end) position (1/[Ixx08*32] cts)
M2164->D:$000ACC ; #21 Position bias (1/[Ixx08*32] cts)
M2166->X:$000A9D,0,24,S ; #21 Actual velocity (1/[Ixx09*32] cts/cyc)