Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 463
; of master or (1/[Ix08*32] cts of slaved motor)
M368->X:$00BD,8,16,S ; #3 Filter Output (DAC bits)
M369->D:$00BE ; #3 Compensation correction
M370->D:$00B9 ; #3 Present phase position; includes fraction in Y-register
M371->X:$00B9,0,24,S ; #3 Present phase position (counts*Ix70)
M372->L:$09AB ; #3 Variable jog position/distance (counts)
M373->Y:$0995,0,24,S ; #3 Encoder home capture offset (counts)
M374->Y:$09AA,24,S ; #3 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &3 Status Bits
M380->X:$0998,0,1 ; &3 Program-running bit
M381->Y:$0997,21,1 ; &3 Circle-radius-error bit
M382->Y:$0997,22,1 ; &3 Run-time-error bit
M384->X:$0998,4,1 ; &3 Continuous motion request
M387->Y:$0997,17,1 ; &3 In-position bit (AND of motors)
M388->Y:$0997,18,1 ; &3 Warning-following-error bit (OR)
M389->Y:$0997,19,1 ; &3 Fatal-following-error bit (OR)
M390->Y:$0997,20,1 ; &3 Amp-fault-error bit (OR of motors)
; Motor #3 Axis Definition Registers
M391->L:$09A2 ; #3 X/U/A/B/C-Axis scale factor (cts/unit)
M392->L:$09A3 ; #3 Y/V-Axis scale factor (cts/unit)
M393->L:$09A4 ; #3 Z/W-Axis scale factor (cts/unit)
M394->L:$09A5 ; #3 Axis offset (cts)
; Coordinate System &3 Variables
M397->X:$0986,0,24,S ; &3 Host commanded time base (I10 units)
M398->X:$0988,0,24,S ; &3 Present time base (I10 units)
; Registers associated with Encoder/DAC4 (Usually Motor #4)
M401->X:$C00D,0,24,S ; ENC4 24-bit counter position
M402->Y:$C00A,8,16,S ; DAC4 16-bit analog output
M403->X:$C00F,0,24,S ; ENC4 capture/compare position register
M404->X:$0723,0,24,S ; ENC4 interpolated position (1/32 ct)
M405->Y:$C00F,8,16,S ; ADC4 16-bit analog input
M406->Y:$C00C,0,24,U ; ENC4 time between counts (SCLK cycles)
M410->X:$C00C,10,1 ; ENC4 count-write enable control
M411->X:$C00C,11,1 ; EQU4 compare flag latch control
M412->X:$C00C,12,1 ; EQU4 compare output enable
M413->X:$C00C,13,1 ; EQU4 compare invert enable
M414->X:$C00C,14,1 ; AENA4/DIR4 Output
M416->X:$C00C,16,1 ; EQU4 compare flag
M417->X:$C00C,17,1 ; ENC4 position-captured flag
M418->X:$C00C,18,1 ; ENC4 count-error flag
M419->X:$C00C,19,1 ; ENC4 3rd channel input status
M420->X:$C00C,20,1 ; HMFL4 input status
M421->X:$C00C,21,1 ; -LIM4 input status
M422->X:$C00C,22,1 ; +LIM4 input status
M423->X:$C00C,23,1 ; FAULT4 input status
; Motor #4 Status Bits
M430->Y:$0A54,11,1 ; #4 Stopped-on-position-limit bit
M431->X:$00F1,21,1 ; #4 Positive-end-limit-set bit