Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 691
Servo IC 4 Channel 1 Registers (usually for Motor #9)
M901->X:$079201,0,24,S ; ENC1 24-bit counter position
M902->Y:$079202,8,16,S ; OUT1A command value; DAC or PWM
M903->X:$079203,0,24,S ; ENC1 captured position
M904->Y:$079203,8,16,S ; OUT1B command value; DAC or PWM
M905->Y:$079205,8,16,S ; ADC1A input value
M906->Y:$079206,8,16,S ; ADC1B input value
M907->Y:$079204,8,16,S ; OUT1C command value; PFM or PWM
M908->Y:$079207,0,24,S ; ENC1 compare A position
M909->X:$079207,0,24,S ; ENC1 compare B position
M910->X:$079206,0,24,S ; ENC1 compare autoincrement value
M911->X:$079205,11 ; ENC1 compare initial state write enable
M912->X:$079205,12 ; ENC1 compare initial state
M914->X:$079205,14 ; AENA1 output status
M915->X:$079200,19 ; USER1 flag input status
M916->X:$079200,9 ; ENC1 compare output value
M917->X:$079200,11 ; ENC1 capture flag
M918->X:$079200,8 ; ENC1 count error flag
M919->X:$079200,14 ; CHC1 input status
M920->X:$079200,16 ; HMFL1 flag input status
M921->X:$079200,17 ; PLIM1 flag input status
M922->X:$079200,18 ; MLIM1 flag input status
M923->X:$079200,15 ; FAULT1 flag input status
M924->X:$079200,20 ; Channel 1 W flag input status
M925->X:$079200,21 ; Channel 1 V flag input status
M926->X:$079200,22 ; Channel 1 U flag input status
M927->X:$079200,23 ; Channel 1 T flag input status
M928->X:$079200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #9 Status Bits
M930->Y:$0004C0,11,1 ; #9 Stopped-on-position-limit bit
M931->X:$0004B0,21,1 ; #9 Positive-end-limit-set bit
M932->X:$0004B0,22,1 ; #9 Negative-end-limit-set bit
M933->X:$0004B0,13,1 ; #9 Desired-velocity-zero bit
M935->X:$0004B0,15,1 ; #9 Dwell-in-progress bit
M937->X:$0004B0,17,1 ; #9 Running-program bit
M938->X:$0004B0,18,1 ; #9 Open-loop-mode bit
M939->X:$0004B0,19,1 ; #9 Amplifier-enabled status bit
M940->Y:$0004C0,0,1 ; #9 Background in-position bit
M941->Y:$0004C0,1,1 ; #9 Warning-following error bit
M942->Y:$0004C0,2,1 ; #9 Fatal-following-error bit
M943->Y:$0004C0,3,1 ; #9 Amplifier-fault-error bit
M944->Y:$0004C0,13,1 ; #9 Foreground in-position bit
M945->Y:$0004C0,10,1 ; #9 Home-complete bit
M946->Y:$0004C0,6,1 ; #9 Integrated following error fault bit
M947->Y:$0004C0,5,1 ; #9 I2T fault bit
M948->Y:$0004C0,8,1 ; #9 Phasing error fault bit
M949->Y:$0004C0,9,1 ; #9 Phasing search-in-progress bit
MACRO IC 1 Node 0 Flag Registers (usually used for Motor #9)
M950->X:$003450,0,24 ; MACRO IC 1 Node 0 flag status register
M951->Y:$003450,0,24 ; MACRO IC 1 Node 0 flag command register
M953->X:$003450,20,4 ; MACRO IC 1 Node 0 TUVW flags