Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 612
Servo Cycle Counter (Read Only) – counts up once per servo cycle
M100->X:$000000,0,24,S ; 24-bit servo cycle counter
Servo IC 0 Registers for PMAC2 Channel 1 (usually for Motor #1)
M101->X:$078001,0,24,S ; ENC1 24-bit counter position
M102->Y:$078002,8,16,S ; OUT1A command value; DAC or PWM
M103->X:$078003,0,24,S ; ENC1 captured position
M104->Y:$078003,8,16,S ; OUT1B command value; DAC or PWM
M105->Y:$078005,8,16,S ; ADC1A input value
M106->Y:$078006,8,16,S ; ADC1B input value
M107->Y:$078004,8,16,S ; OUT1C command value; PFM or PWM
M108->Y:$078007,0,24,S ; ENC1 compare A position
M109->X:$078007,0,24,S ; ENC1 compare B position
M110->X:$078006,0,24,S ; ENC1 compare autoincrement value
M111->X:$078005,11 ; ENC1 compare initial state write enable
M112->X:$078005,12 ; ENC1 compare initial state
M114->X:$078005,14 ; AENA1 output status
M115->X:$078000,19 ; USER1 flag input status
M116->X:$078000,9 ; ENC1 compare output value
M117->X:$078000,11 ; ENC1 capture flag
M118->X:$078000,8 ; ENC1 count error flag
M119->X:$078000,14 ; CHC1 input status
M120->X:$078000,16 ; HMFL1 flag input status
M121->X:$078000,17 ; PLIM1 flag input status
M122->X:$078000,18 ; MLIM1 flag input status
M123->X:$078000,15 ; FAULT1 flag input status
M124->X:$078000,20 ; Channel 1 W flag input status
M125->X:$078000,21 ; Channel 1 V flag input status
M126->X:$078000,22 ; Channel 1 U flag input status
M127->X:$078000,23 ; Channel 1 T flag input status
M128->X:$078000,20,4 ; 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