Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 686
Servo IC 3 Channel 2 Registers (usually for Motor #6)
M601->X:$078309,0,24,S ; ENC6 24-bit counter position
M602->Y:$07830A,8,16,S ; OUT6A command value; DAC or PWM
M603->X:$07830B,0,24,S ; ENC6 captured position
M604->Y:$07830B,8,16,S ; OUT6B command value; DAC or PWM
M605->Y:$07830D,8,16,S ; ADC6A input value
M606->Y:$07830E,8,16,S ; ADC6B input value
M607->Y:$07830C,8,16,S ; OUT6C command value; PFM or PWM
M608->Y:$07830F,0,24,S ; ENC6 compare A position
M609->X:$07830F,0,24,S ; ENC6 compare B position
M610->X:$07830E,0,24,S ; ENC6 compare autoincrement value
M611->X:$07830D,11 ; ENC6 compare initial state write enable
M612->X:$07830D,12 ; ENC6 compare initial state
M614->X:$07830D,14 ; AENA6 output status
M615->X:$078308,19 ; USER6 flag input status
M616->X:$078308,9 ; ENC6 compare output value
M617->X:$078308,11 ; ENC6 capture flag
M618->X:$078308,8 ; ENC6 count error flag
M619->X:$078308,14 ; CHC6 input status
M620->X:$078308,16 ; HMFL6 flag input status
M621->X:$078308,17 ; PLIM6 flag input status
M622->X:$078308,18 ; MLIM6 flag input status
M623->X:$078308,15 ; FAULT6 flag input status
M624->X:$078308,20 ; Channel 6 W flag input status
M625->X:$078308,21 ; Channel 6 V flag input status
M626->X:$078308,22 ; Channel 6 U flag input status
M627->X:$078308,23 ; Channel 6 T flag input status
M628->X:$078308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #6 Status Bits
M630->Y:$000340,11,1 ; #6 Stopped-on-position-limit bit
M631->X:$000330,21,1 ; #6 Positive-end-limit-set bit
M632->X:$000330,22,1 ; #6 Negative-end-limit-set bit
M633->X:$000330,13,1 ; #6 Desired-velocity-zero bit
M635->X:$000330,15,1 ; #6 Dwell-in-progress bit
M637->X:$000330,17,1 ; #6 Running-program bit
M638->X:$000330,18,1 ; #6 Open-loop-mode bit
M639->X:$000330,19,1 ; #6 Amplifier-enabled status bit
M640->Y:$000340,0,1 ; #6 Background in-position bit
M641->Y:$000340,1,1 ; #6 Warning-following error bit
M642->Y:$000340,2,1 ; #6 Fatal-following-error bit
M643->Y:$000340,3,1 ; #6 Amplifier-fault-error bit
M644->Y:$000340,13,1 ; #6 Foreground in-position bit
M645->Y:$000340,10,1 ; #6 Home-complete bit
M646->Y:$000340,6,1 ; #6 Integrated following error fault bit
M647->Y:$000340,5,1 ; #6 I2T fault bit
M648->Y:$000340,8,1 ; #6 Phasing error fault bit
M649->Y:$000340,9,1 ; #6 Phasing search-in-progress bit