Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 704
Motor #16 Axis Definition Registers
M1691->L:$00084F ; #16 X/U/A/B/C-Axis scale factor (cts/unit)
M1692->L:$000850 ; #16 Y/V-Axis scale factor (cts/unit)
M1693->L:$000851 ; #16 Z/W-Axis scale factor (cts/unit)
M1694->L:$000852 ; #16 Axis offset (cts)
Servo IC 6 Channel 1 Registers (usually for Motor #17)
M1701->X:$07A201,0,24,S ; ENC1 24-bit counter position
M1702->Y:$07A202,8,16,S ; OUT1A command value; DAC or PWM
M1703->X:$07A203,0,24,S ; ENC1 captured position
M1704->Y:$07A203,8,16,S ; OUT1B command value; DAC or PWM
M1705->Y:$07A205,8,16,S ; ADC1A input value
M1706->Y:$07A206,8,16,S ; ADC1B input value
M1707->Y:$07A204,8,16,S ; OUT1C command value; PFM or PWM
M1708->Y:$07A207,0,24,S ; ENC1 compare A position
M1709->X:$07A207,0,24,S ; ENC1 compare B position
M1710->X:$07A206,0,24,S ; ENC1 compare autoincrement value
M1711->X:$07A205,11 ; ENC1 compare initial state write enable
M1712->X:$07A205,12 ; ENC1 compare initial state
M1714->X:$07A205,14 ; AENA1 output status
M1715->X:$07A200,19 ; USER1 flag input status
M1716->X:$07A200,9 ; ENC1 compare output value
M1717->X:$07A200,11 ; ENC1 capture flag
M1718->X:$07A200,8 ; ENC1 count error flag
M1719->X:$07A200,14 ; CHC1 input status
M1720->X:$07A200,16 ; HMFL1 flag input status
M1721->X:$07A200,17 ; PLIM1 flag input status
M1722->X:$07A200,18 ; MLIM1 flag input status
M1723->X:$07A200,15 ; FAULT1 flag input status
M1724->X:$07A200,20 ; Channel 1 W flag input status
M1725->X:$07A200,21 ; Channel 1 V flag input status
M1726->X:$07A200,22 ; Channel 1 U flag input status
M1727->X:$07A200,23 ; Channel 1 T flag input status
M1728->X:$07A200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #17 Status Bits
M1730->Y:$0008C0,11,1 ; #17 Stopped-on-position-limit bit
M1731->X:$0008B0,21,1 ; #17 Positive-end-limit-set bit
M1732->X:$0008B0,22,1 ; #17 Negative-end-limit-set bit
M1733->X:$0008B0,13,1 ; #17 Desired-velocity-zero bit
M1735->X:$0008B0,15,1 ; #17 Dwell-in-progress bit
M1737->X:$0008B0,17,1 ; #17 Running-program bit
M1738->X:$0008B0,18,1 ; #17 Open-loop-mode bit
M1739->X:$0008B0,19,1 ; #17 Amplifier-enabled status bit
M1740->Y:$0008C0,0,1 ; #17 Background in-position bit
M1741->Y:$0008C0,1,1 ; #17 Warning-following error bit
M1742->Y:$0008C0,2,1 ; #17 Fatal-following-error bit
M1743->Y:$0008C0,3,1 ; #17 Amplifier-fault-error bit
M1744->Y:$0008C0,13,1 ; #17 Foreground in-position bit
M1745->Y:$0008C0,10,1 ; #17 Home-complete bit
M1746->Y:$0008C0,6,1 ; #17 Integrated following error fault bit
M1747->Y:$0008C0,5,1 ; #17 I2T fault bit
M1748->Y:$0008C0,8,1 ; #17 Phasing error fault bit