Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 699
M1388->Y:$079301,0,12,U ; IC 5 Ch 1 Compare A fractional count
M1389->Y:$079300,0,12,U ; IC 5 Ch 1 Compare B fractional count
Motor #13 Axis Definition Registers
M1391->L:$0006CF ; #13 X/U/A/B/C-Axis scale factor (cts/unit)
M1392->L:$0006D0 ; #13 Y/V-Axis scale factor (cts/unit)
M1393->L:$0006D1 ; #13 Z/W-Axis scale factor (cts/unit)
M1394->L:$0006D2 ; #13 Axis offset (cts)
Servo IC 5 Channel 2 Registers (usually for Motor #14)
M1401->X:$079309,0,24,S ; ENC6 24-bit counter position
M1402->Y:$07930A,8,16,S ; OUT6A command value; DAC or PWM
M1403->X:$07930B,0,24,S ; ENC6 captured position
M1404->Y:$07930B,8,16,S ; OUT6B command value; DAC or PWM
M1405->Y:$07930D,8,16,S ; ADC6A input value
M1406->Y:$07930E,8,16,S ; ADC6B input value
M1407->Y:$07930C,8,16,S ; OUT6C command value; PFM or PWM
M1408->Y:$07930F,0,24,S ; ENC6 compare A position
M1409->X:$07930F,0,24,S ; ENC6 compare B position
M1410->X:$07930E,0,24,S ; ENC6 compare autoincrement value
M1411->X:$07930D,11 ; ENC6 compare initial state write enable
M1412->X:$07930D,12 ; ENC6 compare initial state
M1414->X:$07930D,14 ; AENA6 output status
M1415->X:$079308,19 ; USER6 flag input status
M1416->X:$079308,9 ; ENC6 compare output value
M1417->X:$079308,11 ; ENC6 capture flag
M1418->X:$079308,8 ; ENC6 count error flag
M1419->X:$079308,14 ; CHC6 input status
M1420->X:$079308,16 ; HMFL6 flag input status
M1421->X:$079308,17 ; PLIM6 flag input status
M1422->X:$079308,18 ; MLIM6 flag input status
M1423->X:$079308,15 ; FAULT6 flag input status
M1424->X:$079308,20 ; Channel 6 W flag input status
M1425->X:$079308,21 ; Channel 6 V flag input status
M1426->X:$079308,22 ; Channel 6 U flag input status
M1427->X:$079308,23 ; Channel 6 T flag input status
M1428->X:$079308,20,4 ; Channel 6 TUVW inputs as 4-bit value
Motor #14 Status Bits
M1430->Y:$000740,11,1 ; #14 Stopped-on-position-limit bit
M1431->X:$000730,21,1 ; #14 Positive-end-limit-set bit
M1432->X:$000730,22,1 ; #14 Negative-end-limit-set bit
M1433->X:$000730,13,1 ; #14 Desired-velocity-zero bit
M1435->X:$000730,15,1 ; #14 Dwell-in-progress bit
M1437->X:$000730,17,1 ; #14 Running-program bit
M1438->X:$000730,18,1 ; #14 Open-loop-mode bit
M1439->X:$000730,19,1 ; #14 Amplifier-enabled status bit
M1440->Y:$000740,0,1 ; #14 Background in-position bit
M1441->Y:$000740,1,1 ; #14 Warning-following error bit
M1442->Y:$000740,2,1 ; #14 Fatal-following-error bit
M1443->Y:$000740,3,1 ; #14 Amplifier-fault-error bit
M1444->Y:$000740,13,1 ; #14 Foreground in-position bit
M1445->Y:$000740,10,1 ; #14 Home-complete bit
M1446->Y:$000740,6,1 ; #14 Integrated following error fault bit