Reference Manual

PMAC 2 Software Reference
460 PMAC(1) Suggested M-variable Definitions
M145->Y:$0814,10,1 ; #1 Home-complete bit
; Motor #1 Move Registers
M161->D:$0028 ; #1 Commanded position (1/[Ix08*32] cts)
M162->D:$002B ; #1 Actual position (1/[Ix08*32] cts)
M163->D:$080B ; #1 Target (end) position (1/[Ix08*32] cts)
M164->D:$0813 ; #1 Position bias (1/[Ix08*32] cts)
M165->L:$081F ; &1 X-axis target position (engineering units)
M166->X:$0033,0,24,S ; #1 Actual velocity (1/[Ix09*32] cts/cyc)
M167->D:$002D ; #1 Present master ((handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M168->X:$0045,8,16,S ; #1 Filter Output (DAC bits)
M169->D:$0046 ; #1 Compensation correction
M170->D:$0041 ; #1 Present phase position; includes fraction in Y-register
M171->X:$0041,0,24,S ; #1 Present phase position (counts*Ix70)
M172->L:$082B ; #1 Variable jog position/distance (counts)
M173->Y:$0815,0,24,S ; #1 Encoder home capture offset (counts)
M174->Y:$082A,24,S ; #1 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &1 Status Bits
M180->X:$0818,0,1 ; &1 Program-running bit
M181->Y:$0817,21,1 ; &1 Circle-radius-error bit
M182->Y:$0817,22,1 ; &1 Run-time-error bit
M184->X:$0818,4,1 ; &1 Continuous motion request
M187->Y:$0817,17,1 ; &1 In-position bit (AND of motors)
M188->Y:$0817,18,1 ; &1 Warning-following-error bit (OR)
M189->Y:$0817,19,1 ; &1 Fatal-following-error bit (OR)
M190->Y:$0817,20,1 ; &1 Amp-fault-error bit (OR of motors)
; Motor #1 Axis Definition Registers
M191->L:$0822 ; #1 X/U/A/B/C-Axis scale factor (cts/unit)
M192->L:$0823 ; #1 Y/V-Axis scale factor (cts/unit)
M193->L:$0824 ; #1 Z/W-Axis scale factor (cts/unit)
M194->L:$0825 ; #1 Axis offset (cts)
; Coordinate System &1 Variables
M197->X:$0806,0,24,S ; &1 Host commanded time base (I10 units)
M198->X:$0808,0,24,S ; &1 Present time base (I10 units)
; Registers associated with Encoder/DAC2 (Usually Motor #2)
M201->X:$C005,0,24,S ; ENC2 24-bit counter position
M202->Y:$C002,8,16,S ; DAC2 16-bit analog output
M203->X:$C007,0,24,S ; ENC2 capture/compare position register
M204->X:$0721,0,24,S ; ENC2 interpolated position (1/32 ct)
M205->Y:$C007,8,16,S ; ADC2 16-bit analog input
M206->Y:$C004,0,24,U ; ENC2 time between counts (SCLK cycles)
M210->X:$C004,10,1 ; ENC2 count-write enable control
M211->X:$C004,11,1 ; EQU2 compare flag latch control
M212->X:$C004,12,1 ; EQU2 compare output enable
M213->X:$C004,13,1 ; EQU2 compare invert enable
M214->X:$C004,14,1 ; AENA2/DIR2 Output
M216->X:$C004,16,1 ; EQU2 compare flag
M217->X:$C004,17,1 ; ENC2 position-captured flag