Reference Manual

PMAC 2 Software Reference
466 PMAC(1) Suggested M-variable Definitions
M581->Y:$0B17,21,1 ; &5 Circle-radius-error bit
M582->Y:$0B17,22,1 ; &5 Run-time-error bit
M584->X:$0B18,4,1 ; &5 Continuous motion request
M587->Y:$0B17,17,1 ; &5 In-position bit (AND of motors)
M588->Y:$0B17,18,1 ; &5 Warning-following-error bit (OR)
M589->Y:$0B17,19,1 ; &5 Fatal-following-error bit (OR)
M590->Y:$0B17,20,1 ; &5 Amp-fault-error bit (OR of motors)
; Motor #5 Axis Definition Registers
M591->L:$0B22 ; #5 X/U/A/B/C-Axis scale factor (cts/unit)
M592->L:$0B23 ; #5 Y/V-Axis scale factor (cts/unit)
M593->L:$0B24 ; #5 Z/W-Axis scale factor (cts/unit)
M594->L:$0B25 ; #5 Axis offset (cts)
; Coordinate System &5 Variables
M597->X:$0B06,0,24,S ; &5 Host commanded time base (I10 units)
M598->X:$0B08,0,24,S ; &5 Present time base (I10 units)
; Registers associated with Encoder/DAC6 (Usually Motor #6)
M601->X:$C015,0,24,S ; ENC6 24-bit counter position
M602->Y:$C012,8,16,S ; DAC6 16-bit analog output
M603->X:$C017,0,24,S ; ENC6 capture/compare position register
M604->X:$0725,0,24,S ; ENC6 interpolated position (1/32 ct)
M605->Y:$C017,8,16,S ; ADC6 16-bit analog input
M606->Y:$C014,0,24,U ; ENC6 time between counts (SCLK cycles)
M610->X:$C014,10,1 ; ENC6 count-write enable control
M611->X:$C014,11,1 ; EQU6 compare flag latch control
M612->X:$C014,12,1 ; EQU6 compare output enable
M613->X:$C014,13,1 ; EQU6 compare invert enable
M614->X:$C014,14,1 ; AENA6/DIR6 Output
M616->X:$C014,16,1 ; EQU6 compare flag
M617->X:$C014,17,1 ; ENC6 position-captured flag
M618->X:$C014,18,1 ; ENC6 count-error flag
M619->X:$C014,19,1 ; ENC6 3rd channel input status
M620->X:$C014,20,1 ; HMFL6 input status
M621->X:$C014,21,1 ; -LIM6 input status
M622->X:$C014,22,1 ; +LIM6 input status
M623->X:$C014,23,1 ; FAULT6 input status
; Motor #6 Status Bits
M630->Y:$0BD4,11,1 ; #6 Stopped-on-position-limit bit
M631->X:$0169,21,1 ; #6 Positive-end-limit-set bit
M632->X:$0169,22,1 ; #6 Negative-end-limit-set bit
M633->X:$0169,13,1 ; #6 Desired-velocity-zero bit
M635->X:$0169,15,1 ; #6 Dwell-in-progress bit
M637->X:$0169,17,1 ; #6 Running-program bit
M638->X:$0169,18,1 ; #6 Open-loop-mode bit
M639->Y:$0BD4,14,1 ; #6 Amplifier-enabled status bit
M640->Y:$0BD4,0,1 ; #6 In-position bit
M641->Y:$0BD4,1,1 ; #6 Warning-following error bit
M642->Y:$0BD4,2,1 ; #6 Fatal-following-error bit
M643->Y:$0BD4,3,1 ; #6 Amplifier-fault-error bit