Reference Manual

PMAC 2 Software Reference
468 PMAC(1) Suggested M-variable Definitions
M718->X:$C018,18,1 ; ENC7 count-error flag
M719->X:$C018,19,1 ; ENC7 3rd channel input status
M720->X:$C018,20,1 ; HMFL7 input status
M721->X:$C018,21,1 ; -LIM7 input status
M722->X:$C018,22,1 ; +LIM7 input status
M723->X:$C018,23,1 ; FAULT7 input status
; Motor #7 Status Bits
M730->Y:$0C94,11,1 ; #7 Stopped-on-position-limit bit
M731->X:$01A5,21,1 ; #7 Positive-end-limit-set bit
M732->X:$01A5,22,1 ; #7 Negative-end-limit-set bit
M733->X:$01A5,13,1 ; #7 Desired-velocity-zero bit
M735->X:$01A5,15,1 ; #7 Dwell-in-progress bit
M737->X:$01A5,17,1 ; #7 Running-program bit
M738->X:$01A5,18,1 ; #7 Open-loop-mode bit
M739->Y:$0C94,14,1 ; #7 Amplifier-enabled status bit
M740->Y:$0C94,0,1 ; #7 In-position bit
M741->Y:$0C94,1,1 ; #7 Warning-following error bit
M742->Y:$0C94,2,1 ; #7 Fatal-following-error bit
M743->Y:$0C94,3,1 ; #7 Amplifier-fault-error bit
M745->Y:$0C94,10,1 ; #7 Home-complete bit
; Motor #7 Move Registers
M761->D:$0190 ; #7 Commanded position (1/[Ix08*32] cts)
M762->D:$0193 ; #7 Actual position (1/[Ix08*32] cts)
M763->D:$0C8B ; #7 Target (end) position (1/[Ix08*32] cts)
M764->D:$0C93 ; #7 Position bias (1/[Ix08*32] cts)
M765->L:$081C ; &1 U-axis target position (engineering units)
M766->X:$019B,0,24,S ; #7 Actual velocity (1/[Ix09*32] cts/cyc)
M767->D:$0195 ; #7 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M768->X:$01AD,8,16,S ; #7 Filter Output (DAC bits)
M769->D:$01AE ; #7 Compensation correction
M770->D:$01A9 ; #7 Present phase position; includes fraction in Y-register
M771->X:$01A9,0,24,S ; #7 Present phase position (counts*Ix70)
M772->L:$0CAB ; #7 Variable jog position/distance (counts)
M773->Y:$0C95,0,24,S ; #7 Encoder home capture offset (counts)
M774->Y:$0CAA,24,S ; #7 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &7 Status Bits
M780->X:$0C98,0,1 ; &7 Program-running bit
M781->Y:$0C97,21,1 ; &7 Circle-radius-error bit
M782->Y:$0C97,22,1 ; &7 Run-time-error bit
M784->X:$0C98,4,1 ; &7Continuous motion request
M787->Y:$0C97,17,1 ; &7 In-position bit (AND of motors)
M788->Y:$0C97,18,1 ; &7 Warning-following-error bit (OR)
M789->Y:$0C97,19,1 ; &7 Fatal-following-error bit (OR)
M790->Y:$0C97,20,1 ; &7 Amp-fault-error bit (OR of motors)
; Motor #7 Axis Definition Registers
M791->L:$0CA2 ; #7 X/U/A/B/C-Axis scale factor (cts/unit)
M792->L:$0CA3 ; #7 Y/V-Axis scale factor (cts/unit)