Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 678
M112->X:$078205,12 ; ENC1 compare initial state
M114->X:$078205,14 ; AENA1 output status
M115->X:$078200,19 ; USER1 flag input status
M116->X:$078200,9 ; ENC1 compare output value
M117->X:$078200,11 ; ENC1 capture flag
M118->X:$078200,8 ; ENC1 count error flag
M119->X:$078200,14 ; CHC1 input status
M120->X:$078200,16 ; HMFL1 flag input status
M121->X:$078200,17 ; PLIM1 flag input status
M122->X:$078200,18 ; MLIM1 flag input status
M123->X:$078200,15 ; FAULT1 flag input status
M124->X:$078200,20 ; Channel 1 W flag input status
M125->X:$078200,21 ; Channel 1 V flag input status
M126->X:$078200,22 ; Channel 1 U flag input status
M127->X:$078200,23 ; Channel 1 T flag input status
M128->X:$078200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #1 Status Bits
M130->Y:$0000C0,11,1 ; #1 Stopped-on-position-limit bit
M131->X:$0000B0,21,1 ; #1 Positive-end-limit-set bit
M132->X:$0000B0,22,1 ; #1 Negative-end-limit-set bit
M133->X:$0000B0,13,1 ; #1 Desired-velocity-zero bit
M135->X:$0000B0,15,1 ; #1 Dwell-in-progress bit
M137->X:$0000B0,17,1 ; #1 Running-program bit
M138->X:$0000B0,18,1 ; #1 Open-loop-mode bit
M139->X:$0000B0,19,1 ; #1 Amplifier-enabled status bit
M140->Y:$0000C0,0,1 ; #1 Background in-position bit
M141->Y:$0000C0,1,1 ; #1 Warning-following error bit
M142->Y:$0000C0,2,1 ; #1 Fatal-following-error bit
M143->Y:$0000C0,3,1 ; #1 Amplifier-fault-error bit
M144->Y:$0000C0,13,1 ; #1 Foreground in-position bit
M145->Y:$0000C0,10,1 ; #1 Home-complete bit
M146->Y:$0000C0,6,1 ; #1 Integrated following error fault bit
M147->Y:$0000C0,5,1 ; #1 I2T fault bit
M148->Y:$0000C0,8,1 ; #1 Phasing error fault bit
M149->Y:$0000C0,9,1 ; #1 Phasing search-in-progress bit
MACRO IC 0 Node 0 Flag Registers (usually used for Motor #1)
M150->X:$003440,0,24 ; MACRO IC 0 Node 0 flag status register
M151->Y:$003440,0,24 ; MACRO IC 0 Node 0 flag command register
M153->X:$003440,20,4 ; MACRO IC 0 Node 0 TUVW flags
M154->Y:$003440,14,1 ; MACRO IC 0 Node 0 amplifier enable flag
M155->X:$003440,15,1 ; MACRO IC 0 Node 0 node/amplifier fault flag
M156->X:$003440,16,1 ; MACRO IC 0 Node 0 home flag
M157->X:$003440,17,1 ; MACRO IC 0 Node 0 positive limit flag
M158->X:$003440,18,1 ; MACRO IC 0 Node 0 negative limit flag
M159->X:$003440,19,1 ; MACRO IC 0 Node 0 user flag
Motor #1 Move Registers
M161->D:$000088 ; #1 Commanded position (1/[Ixx08*32] cts)
M162->D:$00008B ; #1 Actual position (1/[Ixx08*32] cts)
M163->D:$0000C7 ; #1 Target (end) position (1/[Ixx08*32] cts)
M164->D:$0000CC ; #1 Position bias (1/[Ixx08*32] cts)
M166->X:$00009D,0,24,S ; #1 Actual velocity (1/[Ixx09*32] cts/cyc)