Reference Manual

PMAC 2 Software Reference
PMAC2 Suggested M-Variable Definitions 477
; Gate Array Registers for Channel 3
M301->X:$C011,0,24,S ; ENC3 24-bit counter position
M302->Y:$C012,8,16,S ; OUT3A command value; DAC or PWM
M303->X:$C013,0,24,S ; ENC3 captured position
M304->Y:$C013,8,16,S ; OUT3B command value; DAC or PWM
M305->X:$0712,8,16,S ; ADC3A input image value
M306->Y:$0712,8,16,S ; ADC3B input image value
M307->Y:$C014,8,16,S ; OUT3C command value; PFM or PWM
M308->Y:$C017,0,24,S ; ENC3 compare A position
M309->X:$C017,0,24,S ; ENC3 compare B position
M310->X:$C016,0,24,S ; ENC3 compare autoincrement value
M311->X:$C015,11 ; ENC3 compare initial state write enable
M312->X:$C015,12 ; ENC3 compare initial state
M314->X:$C015,14 ; AENA3 output status
M315->X:$C010,19 ; USER3 flag input status
M316->X:$C010,9 ; ENC3 compare output value
M317->X:$C010,11 ; ENC3 capture flag
M318->X:$C010,8 ; ENC3 count error flag
M319->X:$C010,14 ; CHC3 input status
M320->X:$C010,16 ; HMFL3 flag input status
M321->X:$C010,17 ; PLIM3 flag input status
M322->X:$C010,18 ; MLIM3 flag input status
M323->X:$C010,15 ; FAULT3 flag input status
M324->X:$C010,20 ; Channel 3 W flag input status
M325->X:$C010,21 ; Channel 3 V flag input status
M326->X:$C010,22 ; Channel 3 U flag input status
M327->X:$C010,23 ; Channel 3 T flag input status
M328->X:$C010,20,4 ; Channel 3 TUVW inputs as 4-bit value
; Motor #3 Status Bits
M330->Y:$0994,11,1 ; #3 Stopped-on-position-limit bit
M331->X:$00B5,21,1 ; #3 Positive-end-limit-set bit
M332->X:$00B5,22,1 ; #3 Negative-end-limit-set bit
M333->X:$00B5,13,1 ; #3 Desired-velocity-zero bit
M335->X:$00B5,15,1 ; #3 Dwell-in-progress bit
M337->X:$00B5,17,1 ; #3 Running-program bit
M338->X:$00B5,18,1 ; #3 Open-loop-mode bit
M339->Y:$0994,14,1 ; #3 Amplifier-enabled status bit
M340->Y:$0994,0,1 ; #3 In-position bit
M341->Y:$0994,1,1 ; #3 Warning-following error bit
M342->Y:$0994,2,1 ; #3 Fatal-following-error bit
M343->Y:$0994,3,1 ; #3 Amplifier-fault-error bit
M345->Y:$0994,10,1 ; #3 Home-complete bit
; Motor #3 Move Registers
M361->D:$00A0 ; #3 Commanded position (1/[Ix08*32] cts)
M362->D:$00A3 ; #3 Actual position (1/[Ix08*32] cts)
M363->D:$098B ; #3 Target (end) position (1/[Ix08*32] cts)
M364->D:$0993 ; #3 Position bias (1/[Ix08*32] cts)