Reference Manual

PMAC 2 Software Reference
464 PMAC(1) Suggested M-variable Definitions
M432->X:$00F1,22,1 ; #4 Negative-end-limit-set bit
M433->X:$00F1,13,1 ; #4 Desired-velocity-zero bit
M435->X:$00F1,15,1 ; #4 Dwell-in-progress bit
M437->X:$00F1,17,1 ; #4 Running-program bit
M438->X:$00F1,18,1 ; #4 Open-loop-mode bit
M439->Y:$0A54,14,1 ; #4 Amplifier-enabled status bit
M440->Y:$0A54,0,1 ; #4 In-position bit
M441->Y:$0A54,1,1 ; #4 Warning-following error bit
M442->Y:$0A54,2,1 ; #4 Fatal-following-error bit
M443->Y:$0A54,3,1 ; #4 Amplifier-fault-error bit
M445->Y:$0A54,10,1 ; #4 Home-complete bit
; Motor #4 Move Registers
M461->D:$00DC ; #4 Commanded position (1/[Ix08*32] cts)
M462->D:$00DF ; #4 Actual position (1/[Ix08*32] cts)
M463->D:$0A4B ; #4 Target (end) position (1/[Ix08*32] cts)
M464->D:$0A53 ; #4 Position bias (1/[Ix08*32] cts)
M465->L:$0819 ; &1 A-axis target position (engineering units)
M466->X:$00E7,0,24,S ; #4 Actual velocity (1/[Ix09*32] cts/cyc)
M467->D:$00E1 ; #4 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M468->X:$00F9,8,16,S ; #4 Filter Output (DAC bits)
M469->D:$00FA ; #4 Compensation correction
M470->D:$00F5 ; #4 Present phase position; includes fraction in Y-register
M471->X:$00F5,0,24,S ; #4 Present phase position (counts*Ix70)
M472->L:$0A6B ; #4 Variable jog position/distance (counts)
M473->Y:$0A55,0,24,S ; #4 Encoder home capture offset (counts)
M474->Y:$0A6A,24,S ; #4 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &4 Status Bits
M480->X:$0A58,0,1 ; &4 Program-running bit
M481->Y:$0A57,21,1 ; &4 Circle-radius-error bit
M482->Y:$0A57,22,1 ; &4 Run-time-error bit
M484->X:$0A58,4,1 ; &4 Continuous motion request
M487->Y:$0A57,17,1 ; &4 In-position bit (AND of motors)
M488->Y:$0A57,18,1 ; &4 Warning-following-error bit (OR)
M489->Y:$0A57,19,1 ; &4 Fatal-following-error bit (OR)
M490->Y:$0A57,20,1 ; &4 Amp-fault-error bit (OR of motors)
; Motor #4 Axis Definition Registers
M491->L:$0A62 ; #4 X/U/A/B/C-Axis scale factor (cts/unit)
M492->L:$0A63 ; #4 Y/V-Axis scale factor (cts/unit)
M493->L:$0A64 ; #4 Z/W-Axis scale factor (cts/unit)
M494->L:$0A65 ; #4 Axis offset (cts)
; Coordinate System &4 Variables
M497->X:$0A46,0,24,S ; &4 Host commanded time base (I10 units)
M498->X:$0A48,0,24,S ; &4 Present time base (I10 units)
; Registers associated with Encoder/DAC5 (Usually Motor #5)
M501->X:$C011,0,24,S ; ENC5 24-bit counter position
M502->Y:$C013,8,16,S ; DAC5 16-bit analog output
M503->X:$C013,0,24,S ; ENC5 capture/compare position register