Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 722
Servo IC 8 Channel 4 Registers (usually for Motor #28)
M2801->X:$07B219,0,24,S ; ENC4 24-bit counter position
M2802->Y:$07B21A,8,16,S ; OUT4A command value; DAC or PWM
M2803->X:$07B21B,0,24,S ; ENC4 captured position
M2804->Y:$07B21B,8,16,S ; OUT4B command value; DAC or PWM
M2805->Y:$07B21D,8,16,S ; ADC4A input value
M2806->Y:$07B21E,8,16,S ; ADC4B input value
M2807->Y:$07B21C,8,16,S ; OUT4C command value; PFM or PWM
M2808->Y:$07B21F,0,24,S ; ENC4 compare A position
M2809->X:$07B21F,0,24,S ; ENC4 compare B position
M2810->X:$07B21E,0,24,S ; ENC4 compare autoincrement value
M2811->X:$07B21D,11 ; ENC4 compare initial state write enable
M2812->X:$07B21D,12 ; ENC4 compare initial state
M2814->X:$07B21D,14 ; AENA4 output status
M2815->X:$07B218,19 ; USER4 flag input status
M2816->X:$07B218,9 ; ENC4 compare output value
M2817->X:$07B218,11 ; ENC4 capture flag
M2818->X:$07B218,8 ; ENC4 count error flag
M2819->X:$07B218,14 ; HMFL4 flag input status
M2820->X:$07B218,16 ; CHC4 input status
M2821->X:$07B218,17 ; PLIM4 flag input status
M2822->X:$07B218,18 ; MLIM4 flag input status
M2823->X:$07B218,15 ; FAULT4 flag input status
M2824->X:$07B218,20 ; Channel 4 W flag input status
M2825->X:$07B218,21 ; Channel 4 V flag input status
M2826->X:$07B218,22 ; Channel 4 U flag input status
M2827->X:$07B218,23 ; Channel 4 T flag input status
M2828->X:$07B218,20,4 ; Channel 4 TUVW inputs as 4-bit value
Motor #28 Status Bits
M2830->Y:$000E40,11,1 ; #28 Stopped-on-position-limit bit
M2831->X:$000E30,21,1 ; #28 Positive-end-limit-set bit
M2832->X:$000E30,22,1 ; #28 Negative-end-limit-set bit
M2833->X:$000E30,13,1 ; #28 Desired-velocity-zero bit
M2835->X:$000E30,15,1 ; #28 Dwell-in-progress bit
M2837->X:$000E30,17,1 ; #28 Running-program bit
M2838->X:$000E30,18,1 ; #28 Open-loop-mode bit
M2839->X:$000E30,19,1 ; #28 Amplifier-enabled status bit
M2840->Y:$000E40,0,1 ; #28 Background in-position bit
M2841->Y:$000E40,1,1 ; #28 Warning-following error bit
M2842->Y:$000E40,2,1 ; #28 Fatal-following-error bit
M2843->Y:$000E40,3,1 ; #28 Amplifier-fault-error bit
M2844->Y:$000E40,13,1 ; #28 Foreground in-position bit
M2845->Y:$000E40,10,1 ; #28 Home-complete bit
M2846->Y:$000E40,6,1 ; #28 Integrated following error fault bit
M2847->Y:$000E40,5,1 ; #28 I2T fault bit
M2848->Y:$000E40,8,1 ; #28 Phasing error fault bit
M2849->Y:$000E40,9,1 ; #28 Phasing search-in-progress bit
MACRO IC 3 Node 5 Flag Registers (usually used for Motor #28)
M2850->X:$003475,0,24 ; MACRO IC 3 Node 5 flag status register
M2851->Y:$003475,0,24 ; MACRO IC 3 Node 5 flag command register
M2853->X:$003475,20,4 ; MACRO IC 3 Node 5 TUVW flags