Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC2 Suggested M-Variable Definitions 653
Servo IC 6 Registers for Third Acc-24 Channel 2 (usually for Motor #26)
M2601->X:$07A209,0,24,S ; ENC2 24-bit counter position
M2602->Y:$07A20A,8,16,S ; OUT2A command value; DAC or PWM
M2603->X:$07A20B,0,24,S ; ENC2 captured position
M2604->Y:$07A20B,8,16,S ; OUT2B command value; DAC or PWM
M2605->Y:$07A20D,8,16,S ; ADC2A input value
M2606->Y:$07A20E,8,16,S ; ADC2B input value
M2607->Y:$07A20C,8,16,S ; OUT2C command value; PFM or PWM
M2608->Y:$07A20F,0,24,S ; ENC2 compare A position
M2609->X:$07A20F,0,24,S ; ENC2 compare B position
M2610->X:$07A20E,0,24,S ; ENC2 compare autoincrement value
M2611->X:$07A20D,11 ; ENC2 compare initial state write enable
M2612->X:$07A20D,12 ; ENC2 compare initial state
M2614->X:$07A20D,14 ; AENA2 output status
M2615->X:$07A208,19 ; USER2 flag input status
M2616->X:$07A208,9 ; ENC2 compare output value
M2617->X:$07A208,11 ; ENC2 capture flag
M2618->X:$07A208,8 ; ENC2 count error flag
M2619->X:$07A208,14 ; CHC2 input status
M2620->X:$07A208,16 ; HMFL2 flag input status
M2621->X:$07A208,17 ; PLIM2 flag input status
M2622->X:$07A208,18 ; MLIM2 flag input status
M2623->X:$07A208,15 ; FAULT2 flag input status
M2624->X:$07A208,20 ; Channel 2 W flag input status
M2625->X:$07A208,21 ; Channel 2 V flag input status
M2626->X:$07A208,22 ; Channel 2 U flag input status
M2627->X:$07A208,23 ; Channel 2 T flag input status
M2628->X:$07A208,20,4 ; Channel 2 TUVW inputs as 4-bit value
Motor #26 Status Bits
M2630->Y:$000D40,11,1 ; #26 Stopped-on-position-limit bit
M2631->X:$000D30,21,1 ; #26 Positive-end-limit-set bit
M2632->X:$000D30,22,1 ; #26 Negative-end-limit-set bit
M2633->X:$000D30,13,1 ; #26 Desired-velocity-zero bit
M2635->X:$000D30,15,1 ; #26 Dwell-in-progress bit
M2637->X:$000D30,17,1 ; #26 Running-program bit
M2638->X:$000D30,18,1 ; #26 Open-loop-mode bit
M2639->X:$000D30,19,1 ; #26 Amplifier-enabled status bit
M2640->Y:$000D40,0,1 ; #26 Background in-position bit
M2641->Y:$000D40,1,1 ; #26 Warning-following error bit
M2642->Y:$000D40,2,1 ; #26 Fatal-following-error bit
M2643->Y:$000D40,3,1 ; #26 Amplifier-fault-error bit
M2644->Y:$000D40,13,1 ; #26 Foreground in-position bit
M2645->Y:$000D40,10,1 ; #26 Home-complete bit
M2646->Y:$000D40,6,1 ; #26 Integrated following error fault bit
M2647->Y:$000D40,5,1 ; #26 I2T fault bit
M2648->Y:$000D40,8,1 ; #26 Phasing error fault bit
M2649->Y:$000D40,9,1 ; #26 Phasing search-in-progress bit
MACRO IC 3 Node 1 Flag Registers (usually used for Motor #26)
M2650->X:$003471,0,24 ; MACRO IC 3 Node 1 flag status register
M2651->Y:$003471,0,24 ; MACRO IC 3 Node 1 flag command register
M2653->X:$003471,20,4 ; MACRO IC 3 Node 1 TUVW flags