Reference Guide
PMAC Quick Reference Guide
Appendix E – Motor Suggested M-Variable Definitions 91
APPENDIX E – MOTOR SUGGESTED M-VARIABLE DEFINITIONS
Registers Associated
with Encoder/DAC
Motor #1 Motor #2 Motor #3 Motor #4 Motor #5 Motor #6 Motor #7 Motor #8
ENC 24-bit counter
position
M101-
>X:$C001,0,24,S
M201-
>X:$C005,0,24,S
M301-
>X:$C009,0,24,S
M401-
>X:$C00D,0,24,S
M501-
>X:$C011,0,24,S
M601-
>X:$C015,0,24,S
M701-
>X:$C019,0,24,S
M801-
>X:$C01D,0,24,S
DAC 16-bit analog
output
M102-
>Y:$C003,8,16,S
M202-
>Y:$C002,8,16,S
M302-
>Y:$C00B,8,16,S
M402-
>Y:$C00A,8,16,S
M502-
>Y:$C013,8,16,S
M602-
>Y:$C012,8,16,S
M702-
>Y:$C01B,8,16,S
M802-
>Y:$C01A,8,16,S
ENC capture/compare
position register
M103-
>X:$C003,0,24,S
M203-
>X:$C007,0,24,S
M303-
>X:$C00B,0,24,S
M403-
>X:$C00F,0,24,S
M503-
>X:$C013,0,24,S
M603-
>X:$C017,0,24,S
M703-
>X:$C01B,0,24,S
M803-
>X:$C01F,0,24,S
ENC interpolated
position (1/32 ct)
M104-
>X:$0720,0,24,S
M204-
>X:$0721,0,24,S
M304-
>X:$0722,0,24,S
M404-
>X:$0723,0,24,S
M504-
>X:$0724,0,24,S
M604-
>X:$0725,0,24,S
M704-
>X:$0726,0,24,S
M804-
>X:$0727,0,24,S
ADC 16-bit analog input M105-
>Y:$C006,8,16,S
M205-
>Y:$C007,8,16,S
M305-
>Y:$C00E,8,16,S
M405-
>Y:$C00F,8,16,S
M505-
>Y:$C016,8,16,S
M605-
>Y:$C017,8,16,S
M705-
>Y:$C01E,8,16,S
M805-
>Y:$C01F,8,16,S
EQU compare flag latch
control
M111-
>X:$C000,11,1
M211-
>X:$C004,11,1
M311-
>X:$C008,11,1
M411-
>X:$C00C,11,1
M511-
>X:$C010,11,1
M611-
>X:$C014,11,1
M711-
>X:$C018,11,1
M811-
>X:$C01C,11,1
EQU compare output
enable
M112-
>X:$C000,12,1
M212-
>X:$C004,12,1
M312-
>X:$C008,12,1
M412-
>X:$C00C,12,1
M512-
>X:$C010,12,1
M612-
>X:$C014,12,1
M712-
>X:$C018,12,1
M812-
>X:$C01C,12,1
EQU compare invert
enable
M113-
>X:$C000,13,1
M213-
>X:$C004,13,1
M313-
>X:$C008,13,1
M413-
>X:$C00C,13,1
M513-
>X:$C010,13,1
M613-
>X:$C014,13,1
M713-
>X:$C018,13,1
M813-
>X:$C01C,13,1
AENA/DIR Output M114-
>X:$C000,14,1
M214-
>X:$C004,14,1
M314-
>X:$C008,14,1
M414-
>X:$C00C,14,1
M514-
>X:$C010,14,1
M614-
>X:$C014,14,1
M714-
>X:$C018,14,1
M814-
>X:$C01C,14,1
EQU compare flag M116-
>X:$C000,16,1
M216-
>X:$C004,16,1
M316-
>X:$C008,16,1
M416-
>X:$C00C,16,1
M516-
>X:$C010,16,1
M616-
>X:$C014,16,1
M716-
>X:$C018,16,1
M816-
>X:$C01C,16,1
ENC position-captured
flag
M117-
>X:$C000,17,1
M217-
>X:$C004,17,1
M317-
>X:$C008,17,1
M417-
>X:$C00C,17,1
M517-
>X:$C010,17,1
M617-
>X:$C014,17,1
M717-
>X:$C018,17,1
M817-
>X:$C01C,17,1
ENC Count-error flag M118-
>X:$C000,18,1
M218-
>X:$C004,18,1
M318-
>X:$C008,18,1
M418-
>X:$C00C,18,1
M518-
>X:$C010,18,1
M618-
>X:$C014,18,1
M718-
>X:$C018,18,1
M818-
>X:$C01C,18,1
ENC 3rd channel
input status
M119-
>X:$C000,19,1
M219-
>X:$C004,19,1
M319-
>X:$C008,19,1
M419-
>X:$C00C,19,1
M519-
>X:$C010,19,1
M619-
>X:$C014,19,1
M719-
>X:$C018,19,1
M819-
>X:$C01C,19,1
HMFL input status M120-
>X:$C000,20,1
M220-
>X:$C004,20,1
M320-
>X:$C008,20,1
M420-
>X:$C00C,20,1
M520-
>X:$C010,20,1
M620-
>X:$C014,20,1
M720-
>X:$C018,20,1
M820-
>X:$C01C,20,1
-LIM input status M121-
>X:$C000,21,1
M221-
>X:$C004,21,1
M321-
>X:$C008,21,1
M421-
>X:$C00C,21,1
M521-
>X:$C010,21,1
M621-
>X:$C014,21,1
M721-
>X:$C018,21,1
M821-
>X:$C01C,21,1
+LIM input status M122-
>X:$C000,22,1
M222-
>X:$C004,22,1
M322-
>X:$C008,22,1
M422-
>X:$C00C,22,1
M522-
>X:$C010,22,1
M622-
>X:$C014,22,1
M722-
>X:$C018,22,1
M822-
>X:$C01C,22,1
FAULT input status M123-
>X:$C000,23,1
M223-
>X:$C004,23,1
M323-
>X:$C008,23,1
M423-
>X:$C00C,23,1
M523-
>X:$C010,23,1
M623-
>X:$C014,23,1
M723-
>X:$C018,23,1
M823-
>X:$C01C,23,1