Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 459
M44->Y:$FFC1,12,1 ; SEL4 Output
M45->Y:$FFC1,13,1 ; SEL5 Output
M46->Y:$FFC1,14,1 ; SEL6 Output
M47->Y:$FFC1,15,1 ; SEL7 Output
M48->Y:$FFC1,8,8,U ; SEL0-7 Outputs treated as a byte
M50->Y:$FFC1,0,1 ; DAT0 Input
M51->Y:$FFC1,1,1 ; DAT1 Input
M52->Y:$FFC1,2,1 ; DAT2 Input
M53->Y:$FFC1,3,1 ; DAT3 Input
M54->Y:$FFC1,4,1 ; DAT4 Input
M55->Y:$FFC1,5,1 ; DAT5 Input
M56->Y:$FFC1,6,1 ; DAT6 Input
M57->Y:$FFC1,7,1 ; DAT7 Input
M58->Y:$FFC1,0,8,U ; DAT0-7 Inputs treated as a byte
; Registers associated with Encoder/DAC1 (Usually Motor #1)
M101->X:$C001,0,24,S ; ENC1 24-bit counter position
M102->Y:$C003,8,16,S ; DAC1 16-bit analog output
M103->X:$C003,0,24,S ; ENC1 capture/compare position register
M104->X:$0720,0,24,S ; ENC1 interpolated position (1/32 ct)
M105->Y:$C006,8,16,S ; ADC1 16-bit analog input
M106->Y:$C000,0,24,U ; ENC1 time between counts (SCLK cycles)
M110->X:$C000,10,1 ; ENC1 count-write enable control
M111->X:$C000,11,1 ; EQU1 compare flag latch control
M112->X:$C000,12,1 ; EQU1 compare output enable
M113->X:$C000,13,1 ; EQU1 compare invert enable
M114->X:$C000,14,1 ; AENA1/DIR1 Output
M116->X:$C000,16,1 ; EQU1 compare flag
M117->X:$C000,17,1 ; ENC1 position-captured flag
M118->X:$C000,18,1 ; ENC1 Count-error flag
M119->X:$C000,19,1 ; ENC1 3rd channel input status
M120->X:$C000,20,1 ; HMFL1 input status
M121->X:$C000,21,1 ; -LIM1 input status
M122->X:$C000,22,1 ; +LIM1 input status
M123->X:$C000,23,1 ; FAULT1 input status
; Motor #1 Status Bits
M130->Y:$0814,11,1 ; #1 Stopped-on-position-limit bit
M131->X:$003D,21,1 ; #1 Positive-end-limit-set bit
M132->X:$003D,22,1 ; #1 Negative-end-limit-set bit
M133->X:$003D,13,1 ; #1 Desired-velocity-zero bit
M135->X:$003D,15,1 ; #1 Dwell-in-progress bit
M137->X:$003D,17,1 ; #1 Running-program bit
M138->X:$003D,18,1 ; #1 Open-loop-mode bit
M139->Y:$0814,14,1 ; #1 Amplifier-enabled status bit
M140->Y:$0814,0,1 ; #1 In-position bit
M141->Y:$0814,1,1 ; #1 Warning-following error bit
M142->Y:$0814,2,1 ; #1 Fatal-following-error bit
M143->Y:$0814,3,1 ; #1 Amplifier-fault-error bit