Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 465
M504->X:$0724,0,24,S ; ENC5 interpolated position (1/32 ct)
M505->Y:$C016,8,16,S ; ADC5 16-bit analog input
M506->Y:$C010,0,24,U ; ENC5 time between counts (SCLK cycles)
M510->X:$C010,10,1 ; ENC5 count-write enable control
M511->X:$C010,11,1 ; EQU5 compare flag latch control
M512->X:$C010,12,1 ; EQU5 compare output enable
M513->X:$C010,13,1 ; EQU5 compare invert enable
M514->X:$C010,14,1 ; AENA5/DIR5 Output
M516->X:$C010,16,1 ; EQU5 compare flag
M517->X:$C010,17,1 ; ENC5 position-captured flag
M518->X:$C010,18,1 ; ENC5 count-error flag
M519->X:$C010,19,1 ; ENC5 3rd channel input status
M520->X:$C010,20,1 ; HMFL5 input status
M521->X:$C010,21,1 ; -LIM5 input status
M522->X:$C010,22,1 ; +LIM5 input status
M523->X:$C010,23,1 ; FAULT5 input status
; Motor #5 Status Bits
M530->Y:$0B14,11,1 ; #5 Stopped-on-position-limit bit
M531->X:$012D,21,1 ; #5 Positive-end-limit-set bit
M532->X:$012D,22,1 ; #5 Negative-end-limit-set bit
M533->X:$012D,13,1 ; #5 Desired-velocity-zero bit
M535->X:$012D,15,1 ; #5 Dwell-in-progress bit
M537->X:$012D,17,1 ; #5 Running-program bit
M538->X:$012D,18,1 ; #5 Open-loop-mode bit
M539->Y:$0B14,14,1 ; #5 Amplifier-enabled status bit
M540->Y:$0B14,0,1 ; #5 In-position bit
M541->Y:$0B14,1,1 ; #5 Warning-following error bit
M542->Y:$0B14,2,1 ; #5 Fatal-following-error bit
M543->Y:$0B14,3,1 ; #5 Amplifier-fault-error bit
M545->Y:$0B14,10,1 ; #5 Home-complete bit
; Motor #5 Move Registers
M561->D:$0118 ; #5 Commanded position (1/[Ix08*32] cts)
M562->D:$011B ; #5 Actual position (1/[Ix08*32] cts)
M563->D:$0B0B ; #5 Target (end) position (1/[Ix08*32] cts)
M564->D:$0B13 ; #5 Position bias (1/[Ix08*32] cts)
M565->L:$081A ; &1 B-axis target position (engineering units)
M566->X:$0123,0,24,S ; #5 Actual velocity (1/[Ix09*32] cts/cyc)
M567->D:$011D ; #5 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M568->X:$0135,8,16,S ; #5 Filter Output (DAC bits)
M569->D:$0136 ; #5 Compensation correction
M570->D:$0131 ; #5 Present phase position; includes fraction in Y-register
M571->X:$0131,0,24,S ; #5 Present phase position (counts*Ix70)
M572->L:$0B2B ; #5 Variable jog position/distance (counts)
M573->Y:$0B15,0,24,S ; #5 Encoder home capture offset (counts)
M574->Y:$0B2A,24,S ; #5 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &5 Status Bits
M580->X:$0B18,0,1 ; &5 Program-running bit