Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 709
Servo IC 6 Channel 4 Registers (usually for Motor #20)
M2001->X:$07A219,0,24,S ; ENC4 24-bit counter position
M2002->Y:$07A21A,8,16,S ; OUT4A command value; DAC or PWM
M2003->X:$07A21B,0,24,S ; ENC4 captured position
M2004->Y:$07A21B,8,16,S ; OUT4B command value; DAC or PWM
M2005->Y:$07A21D,8,16,S ; ADC4A input value
M2006->Y:$07A21E,8,16,S ; ADC4B input value
M2007->Y:$07A21C,8,16,S ; OUT4C command value; PFM or PWM
M2008->Y:$07A21F,0,24,S ; ENC4 compare A position
M2009->X:$07A21F,0,24,S ; ENC4 compare B position
M2010->X:$07A21E,0,24,S ; ENC4 compare autoincrement value
M2011->X:$07A21D,11 ; ENC4 compare initial state write enable
M2012->X:$07A21D,12 ; ENC4 compare initial state
M2014->X:$07A21D,14 ; AENA4 output status
M2015->X:$07A218,19 ; USER4 flag input status
M2016->X:$07A218,9 ; ENC4 compare output value
M2017->X:$07A218,11 ; ENC4 capture flag
M2018->X:$07A218,8 ; ENC4 count error flag
M2019->X:$07A218,14 ; HMFL4 flag input status
M2020->X:$07A218,16 ; CHC4 input status
M2021->X:$07A218,17 ; PLIM4 flag input status
M2022->X:$07A218,18 ; MLIM4 flag input status
M2023->X:$07A218,15 ; FAULT4 flag input status
M2024->X:$07A218,20 ; Channel 4 W flag input status
M2025->X:$07A218,21 ; Channel 4 V flag input status
M2026->X:$07A218,22 ; Channel 4 U flag input status
M2027->X:$07A218,23 ; Channel 4 T flag input status
M2028->X:$07A218,20,4 ; Channel 4 TUVW inputs as 4-bit value
Motor #20 Status Bits
M2030->Y:$000A40,11,1 ; #20 Stopped-on-position-limit bit
M2031->X:$000A30,21,1 ; #20 Positive-end-limit-set bit
M2032->X:$000A30,22,1 ; #20 Negative-end-limit-set bit
M2033->X:$000A30,13,1 ; #20 Desired-velocity-zero bit
M2035->X:$000A30,15,1 ; #20 Dwell-in-progress bit
M2037->X:$000A30,17,1 ; #20 Running-program bit
M2038->X:$000A30,18,1 ; #20 Open-loop-mode bit
M2039->X:$000A30,19,1 ; #20 Amplifier-enabled status bit
M2040->Y:$000A40,0,1 ; #20 Background in-position bit
M2041->Y:$000A40,1,1 ; #20 Warning-following error bit
M2042->Y:$000A40,2,1 ; #20 Fatal-following-error bit
M2043->Y:$000A40,3,1 ; #20 Amplifier-fault-error bit
M2044->Y:$000A40,13,1 ; #20 Foreground in-position bit
M2045->Y:$000A40,10,1 ; #20 Home-complete bit
M2046->Y:$000A40,6,1 ; #20 Integrated following error fault bit
M2047->Y:$000A40,5,1 ; #20 I2T fault bit
M2048->Y:$000A40,8,1 ; #20 Phasing error fault bit
M2049->Y:$000A40,9,1 ; #20 Phasing search-in-progress bit
MACRO IC 2 Node 5 Flag Registers (usually used for Motor #20)
M2050->X:$003465,0,24 ; MACRO IC 2 Node 5 flag status register
M2051->Y:$003465,0,24 ; MACRO IC 2 Node 5 flag command register
M2053->X:$003465,20,4 ; MACRO IC 2 Node 5 TUVW flags