Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 717
M2489->Y:$07A318,0,12,U ; IC 7 Ch 4 Compare B fractional count
Motor #24 Axis Definition Registers
M2491->L:$000C4F ; #24 X/U/A/B/C-Axis scale factor (cts/unit)
M2492->L:$000C50 ; #24 Y/V-Axis scale factor (cts/unit)
M2493->L:$000C51 ; #24 Z/W-Axis scale factor (cts/unit)
M2494->L:$000C52 ; #24 Axis offset (cts)
Servo IC 8 Channel 1 Registers (usually for Motor #25)
M2501->X:$07B201,0,24,S ; ENC1 24-bit counter position
M2502->Y:$07B202,8,16,S ; OUT1A command value; DAC or PWM
M2503->X:$07B203,0,24,S ; ENC1 captured position
M2504->Y:$07B203,8,16,S ; OUT1B command value; DAC or PWM
M2505->Y:$07B205,8,16,S ; ADC1A input value
M2506->Y:$07B206,8,16,S ; ADC1B input value
M2507->Y:$07B204,8,16,S ; OUT1C command value; PFM or PWM
M2508->Y:$07B207,0,24,S ; ENC1 compare A position
M2509->X:$07B207,0,24,S ; ENC1 compare B position
M2510->X:$07B206,0,24,S ; ENC1 compare autoincrement value
M2511->X:$07B205,11 ; ENC1 compare initial state write enable
M2512->X:$07B205,12 ; ENC1 compare initial state
M2514->X:$07B205,14 ; AENA1 output status
M2515->X:$07B200,19 ; USER1 flag input status
M2516->X:$07B200,9 ; ENC1 compare output value
M2517->X:$07B200,11 ; ENC1 capture flag
M2518->X:$07B200,8 ; ENC1 count error flag
M2519->X:$07B200,14 ; CHC1 input status
M2520->X:$07B200,16 ; HMFL1 flag input status
M2521->X:$07B200,17 ; PLIM1 flag input status
M2522->X:$07B200,18 ; MLIM1 flag input status
M2523->X:$07B200,15 ; FAULT1 flag input status
M2524->X:$07B200,20 ; Channel 1 W flag input status
M2525->X:$07B200,21 ; Channel 1 V flag input status
M2526->X:$07B200,22 ; Channel 1 U flag input status
M2527->X:$07B200,23 ; Channel 1 T flag input status
M2528->X:$07B200,20,4 ; Channel 1 TUVW inputs as 4-bit value
Motor #25 Status Bits
M2530->Y:$000CC0,11,1 ; #25 Stopped-on-position-limit bit
M2531->X:$000CB0,21,1 ; #25 Positive-end-limit-set bit
M2532->X:$000CB0,22,1 ; #25 Negative-end-limit-set bit
M2533->X:$000CB0,13,1 ; #25 Desired-velocity-zero bit
M2535->X:$000CB0,15,1 ; #25 Dwell-in-progress bit
M2537->X:$000CB0,17,1 ; #25 Running-program bit
M2538->X:$000CB0,18,1 ; #25 Open-loop-mode bit
M2539->X:$000CB0,19,1 ; #25 Amplifier-enabled status bit
M2540->Y:$000CC0,0,1 ; #25 Background in-position bit
M2541->Y:$000CC0,1,1 ; #25 Warning-following error bit
M2542->Y:$000CC0,2,1 ; #25 Fatal-following-error bit
M2543->Y:$000CC0,3,1 ; #25 Amplifier-fault-error bit
M2544->Y:$000CC0,13,1 ; #25 Foreground in-position bit
M2545->Y:$000CC0,10,1 ; #25 Home-complete bit
M2546->Y:$000CC0,6,1 ; #25 Integrated following error fault bit
M2547->Y:$000CC0,5,1 ; #25 I2T fault bit