Reference Manual

PMAC 2 Software Reference
474 PMAC2 Suggested M-Variable Definitions
M111->X:$C005,11 ; ENC1 compare initial state write enable
M112->X:$C005,12 ; ENC1 compare initial state
M114->X:$C005,14 ; AENA1 output status
M115->X:$C000,19 ; USER1 flag input status
M116->X:$C000,9 ; ENC1 compare output value
M117->X:$C000,11 ; ENC1 capture flag
M118->X:$C000,8 ; ENC1 count error flag
M119->X:$C000,14 ; CHC1 input status
M120->X:$C000,16 ; HMFL1 flag input status
M121->X:$C000,17 ; PLIM1 flag input status
M122->X:$C000,18 ; MLIM1 flag input status
M123->X:$C000,15 ; FAULT1 flag input status
M124->X:$C000,20 ; Channel 1 W flag input status
M125->X:$C000,21 ; Channel 1 V flag input status
M126->X:$C000,22 ; Channel 1 U flag input status
M127->X:$C000,23 ; Channel 1 T flag input status
M128->X:$C000,20,4 ; Channel 1 TUVW inputs as 4-bit value
; Motor #1 Status Bits
M130->Y:$0814,11,1 ; #1 Stopped-on-position-limit bit
M131->X:$003D,21,1 ; #1 Positive-end-limit-set bit
M132->X:$003D,22,1 ; #1 Negative-end-limit-set bit
M133->X:$003D,13,1 ; #1 Desired-velocity-zero bit
M135->X:$003D,15,1 ; #1 Dwell-in-progress bit
M137->X:$003D,17,1 ; #1 Running-program bit
M138->X:$003D,18,1 ; #1 Open-loop-mode bit
M139->Y:$0814,14,1 ; #1 Amplifier-enabled status bit
M140->Y:$0814,0,1 ; #1 In-position bit
M141->Y:$0814,1,1 ; #1 Warning-following error bit
M142->Y:$0814,2,1 ; #1 Fatal-following-error bit
M143->Y:$0814,3,1 ; #1 Amplifier-fault-error bit
M145->Y:$0814,10,1 ; #1 Home-complete bit
; Motor #1 Move Registers
M161->D:$0028 ; #1 Commanded position (1/[Ix08*32] cts)
M162->D:$002B ; #1 Actual position (1/[Ix08*32] cts)
M163->D:$080B ; #1 Target (end) position (1/[Ix08*32] cts)
M164->D:$0813 ; #1 Position bias (1/[Ix08*32] cts)
M165->L:$081F ; &1 X-axis target position (engineering units)
M166->X:$0033,0,24,S ; #1 Actual velocity (1/[Ix09*32] cts/cyc)
M167->D:$002D ; #1 Present master pos (1/[Ix07*32] cts)
M168->X:$0043,8,16,S ; #1 Filter Output (DAC bits)
M169->D:$004A ; #1 Compensation correction (1/[Ix08*32] cts)
M170->D:$0040 ; #1 Present phase position (including fraction)
M171->X:$0040,24,S ; #1 Present phase position (counts *Ix70)
M172->L:$082B ; #1 Variable jog position/distance (cts)
M173->Y:$0815,24,S ; #1 Encoder home capture position (cts)
M174->Y:$082A,24,S ; #1 Averaged actual velocity (1/[Ix09*32] cts/cyc)