Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 727
M3106->Y:$07B316,8,16,S ; ADC7B input value
M3107->Y:$07B314,8,16,S ; OUT7C command value; PFM or PWM
M3108->Y:$07B317,0,24,S ; ENC7 compare A position
M3109->X:$07B317,0,24,S ; ENC7 compare B position
M3110->X:$07B316,0,24,S ; ENC7 compare autoincrement value
M3111->X:$07B315,11 ; ENC7 compare initial state write enable
M3112->X:$07B315,12 ; ENC7 compare initial state
M3114->X:$07B315,14 ; AENA7 output status
M3115->X:$07B310,19 ; CHC7 input status
M3116->X:$07B310,9 ; ENC7 compare output value
M3117->X:$07B310,11 ; ENC7 capture flag
M3118->X:$07B310,8 ; ENC7 count error flag
M3119->X:$07B310,14 ; CHC7 input status
M3120->X:$07B310,16 ; HMFL7 flag input status
M3121->X:$07B310,17 ; PLIM7 flag input status
M3122->X:$07B310,18 ; MLIM7 flag input status
M3123->X:$07B310,15 ; FAULT7 flag input status
M3124->X:$07B310,20 ; Channel 7 W flag input status
M3125->X:$07B310,21 ; Channel 7 V flag input status
M3126->X:$07B310,22 ; Channel 7 U flag input status
M3127->X:$07B310,23 ; Channel 7 T flag input status
M3128->X:$07B310,20,4 ; Channel 7 TUVW inputs as 4-bit value
Motor #31 Status Bits
M3130->Y:$000FC0,11,1 ; #31 Stopped-on-position-limit bit
M3131->X:$000FB0,21,1 ; #31 Positive-end-limit-set bit
M3132->X:$000FB0,22,1 ; #31 Negative-end-limit-set bit
M3133->X:$000FB0,13,1 ; #31 Desired-velocity-zero bit
M3135->X:$000FB0,15,1 ; #31 Dwell-in-progress bit
M3137->X:$000FB0,17,1 ; #31 Running-program bit
M3138->X:$000FB0,18,1 ; #31 Open-loop-mode bit
M3139->X:$000FB0,19,1 ; #31 Amplifier-enabled status bit
M3140->Y:$000FC0,0,1 ; #31 Background in-position bit
M3141->Y:$000FC0,1,1 ; #31 Warning-following error bit
M3142->Y:$000FC0,2,1 ; #31 Fatal-following-error bit
M3143->Y:$000FC0,3,1 ; #31 Amplifier-fault-error bit
M3144->Y:$000FC0,13,1 ; #31 Foreground in-position bit
M3145->Y:$000FC0,10,1 ; #31 Home-complete bit
M3146->Y:$000FC0,6,1 ; #31 Integrated following error fault bit
M3147->Y:$000FC0,5,1 ; #31 I2T fault bit
M3148->Y:$000FC0,8,1 ; #31 Phasing error fault bit
M3149->Y:$000FC0,9,1 ; #31 Phasing search-in-progress bit
MACRO IC 3 Node 12 Flag Registers (usually used for Motor #31)
M3150->X:$00347C,0,24 ; MACRO IC 3 Node 12 flag status register
M3151->Y:$00347C,0,24 ; MACRO IC 3 Node 12 flag command register
M3153->X:$00347C,20,4 ; MACRO IC 3 Node 12 TUVW flags
M3154->Y:$00347C,14,1 ; MACRO IC 3 Node 12 amplifier enable flag
M3155->X:$00347C,15,1 ; MACRO IC 3 Node 12 node/amplifier fault flag
M3156->X:$00347C,16,1 ; MACRO IC 3 Node 12 home flag
M3157->X:$00347C,17,1 ; MACRO IC 3 Node 12 positive limit flag
M3158->X:$00347C,18,1 ; MACRO IC 3 Node 12 negative limit flag
M3159->X:$00347C,19,1 ; MACRO IC 3 Node 12 user flag