Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 467
M645->Y:$0BD4,10,1 ; #6 Home-complete bit
; Motor #6 Move Registers
M661->D:$0154 ; #6 Commanded position (1/[Ix08*32] cts)
M662->D:$0157 ; #6 Actual position (1/[Ix08*32] cts)
M663->D:$0BCB ; #6 Target (end) position (1/[Ix08*32] cts)
M664->D:$0BD3 ; #6 Position bias (1/[Ix08*32] cts)
M665->L:$081B ; &1 C-axis target position (engineering units)
M666->X:$015F,0,24,S ; #6 Actual velocity (1/[Ix09*32] cts/cyc)
M667->D:$0159 ; #6 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M668->X:$0171,8,16,S ; #6 Filter Output (DAC bits)
M669->D:$0172 ; #6 Compensation correction
M670->D:$016D ; #6 Present phase position; includes fraction in Y-register
M671->X:$016D,0,24,S ; #6 Present phase position (counts*Ix70)
M672->L:$0BEB ; #6 Variable jog position/distance (counts)
M673->Y:$0BD5,0,24,S ; #6 Encoder home capture offset (counts)
M674->Y:$0BEA,24,S ; #6 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &6 Status Bits
M680->X:$0BD8,0,1 ; &6 Program-running bit
M681->Y:$0BD7,21,1 ; &6 Circle-radius-error bit
M682->Y:$0BD7,22,1 ; &6 Run-time-error bit
M684->X:$0BD8,4,1 ; &6 Continuous motion request
M687->Y:$0BD7,17,1 ; &6 In-position bit (AND of motors)
M688->Y:$0BD7,18,1 ; &6 Warning-following-error bit (OR)
M689->Y:$0BD7,19,1 ; &6 Fatal-following-error bit (OR)
M690->Y:$0BD7,20,1 ; &6 Amp-fault-error bit (OR of motors)
; Motor #6 Axis Definition Registers
M691->L:$0BE2 ; #6 X/U/A/B/C-Axis scale factor (cts/unit)
M692->L:$0BE3 ; #6 Y/V-Axis scale factor (cts/unit)
M693->L:$0BE4 ; #6 Z/W-Axis scale factor (cts/unit)
M694->L:$0BE5 ; #6 Axis offset (cts)
; Coordinate System &6 Variables
M697->X:$0BC6,0,24,S ; &6 Host commanded time base (I10 units)
M698->X:$0BC8,0,24,S ; &6 Present time base (I10 units)
; Registers associated with Encoder/DAC7 (Usually Motor #7)
M701->X:$C019,0,24,S ; ENC7 24-bit counter position
M702->Y:$C01B,8,16,S ; DAC7 16-bit analog output
M703->X:$C01B,0,24,S ; ENC7 capture/compare position register
M704->X:$0726,0,24,S ; ENC7 interpolated position (1/32 ct)
M705->Y:$C01E,8,16,S ; ADC7 16-bit analog input
M706->Y:$C018,0,24,U ; ENC7 time between counts (SCLK cycles)
M710->X:$C018,10,1 ; ENC7 count-write enable control
M711->X:$C018,11,1 ; EQU7 compare flag latch control
M712->X:$C018,12,1 ; EQU7 compare output enable
M713->X:$C018,13,1 ; EQU7 compare invert enable
M714->X:$C018,14,1 ; AENA7/DIR7 Output
M716->X:$C018,16,1 ; EQU7 compare flag
M717->X:$C018,17,1 ; ENC7 position-captured flag