Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 681
Motor #2 Axis Definition Registers
M291->L:$00014F ; #2 X/U/A/B/C-Axis scale factor (cts/unit)
M292->L:$000150 ; #2 Y/V-Axis scale factor (cts/unit)
M293->L:$000151 ; #2 Z/W-Axis scale factor (cts/unit)
M294->L:$000152 ; #2 Axis offset (cts)
Servo IC 2 Channel 3 Registers (usually for Motor #3)
M301->X:$078211,0,24,S ; ENC3 24-bit counter position
M302->Y:$078212,8,16,S ; OUT3A command value; DAC or PWM
M303->X:$078213,0,24,S ; ENC3 captured position
M304->Y:$078213,8,16,S ; OUT3B command value; DAC or PWM
M305->Y:$078215,8,16,S ; ADC3A input value
M306->Y:$078216,8,16,S ; ADC3B input value
M307->Y:$078214,8,16,S ; OUT3C command value; PFM or PWM
M308->Y:$078217,0,24,S ; ENC3 compare A position
M309->X:$078217,0,24,S ; ENC3 compare B position
M310->X:$078216,0,24,S ; ENC3 compare autoincrement value
M311->X:$078215,11 ; ENC3 compare initial state write enable
M312->X:$078215,12 ; ENC3 compare initial state
M314->X:$078215,14 ; AENA3 output status
M315->X:$078210,19 ; USER3 flag input status
M316->X:$078210,9 ; ENC3 compare output value
M317->X:$078210,11 ; ENC3 capture flag
M318->X:$078210,8 ; ENC3 count error flag
M319->X:$078210,14 ; CHC3 input status
M320->X:$078210,16 ; HMFL3 flag input status
M321->X:$078210,17 ; PLIM3 flag input status
M322->X:$078210,18 ; MLIM3 flag input status
M323->X:$078210,15 ; FAULT3 flag input status
M324->X:$078210,20 ; Channel 3 W flag input status
M325->X:$078210,21 ; Channel 3 V flag input status
M326->X:$078210,22 ; Channel 3 U flag input status
M327->X:$078210,23 ; Channel 3 T flag input status
M328->X:$078210,20,4 ; Channel 3 TUVW inputs as 4-bit value
Motor #3 Status Bits
M330->Y:$0001C0,11,1 ; #3 Stopped-on-position-limit bit
M331->X:$0001B0,21,1 ; #3 Positive-end-limit-set bit
M332->X:$0001B0,22,1 ; #3 Negative-end-limit-set bit
M333->X:$0001B0,13,1 ; #3 Desired-velocity-zero bit
M335->X:$0001B0,15,1 ; #3 Dwell-in-progress bit
M337->X:$0001B0,17,1 ; #3 Running-program bit
M338->X:$0001B0,18,1 ; #3 Open-loop-mode bit
M339->X:$0001B0,19,1 ; #3 Amplifier-enabled status bit
M340->Y:$0001C0,0,1 ; #3 Background in-position bit
M341->Y:$0001C0,1,1 ; #3 Warning-following error bit
M342->Y:$0001C0,2,1 ; #3 Fatal-following-error bit
M343->Y:$0001C0,3,1 ; #3 Amplifier-fault-error bit
M344->Y:$0001C0,13,1 ; #3 Foreground in-position bit
M345->Y:$0001C0,10,1 ; #3 Home-complete bit
M346->Y:$0001C0,6,1 ; #3 Integrated following error fault bit
M347->Y:$0001C0,5,1 ; #3 I2T fault bit
M348->Y:$0001C0,8,1 ; #3 Phasing error fault bit