Reference Manual

PMAC 2 Software Reference
PMAC2 Suggested M-Variable Definitions 479
M420->X:$C018,16 ; CHC4 input status
M421->X:$C018,17 ; PLIM4 flag input status
M422->X:$C018,18 ; MLIM4 flag input status
M423->X:$C018,15 ; FAULT4 flag input status
M424->X:$C018,20 ; Channel 4 W flag input status
M425->X:$C018,21 ; Channel 4 V flag input status
M426->X:$C018,22 ; Channel 4 U flag input status
M427->X:$C018,23 ; Channel 4 T flag input status
M428->X:$C018,20,4 ; Channel 4 TUVW inputs as 4-bit value
; Motor #4 Status Bits
M430->Y:$0A54,11,1 ; #4 Stopped-on-position-limit bit
M431->X:$00F1,21,1 ; #4 Positive-end-limit-set bit
M432->X:$00F1,22,1 ; #4 Negative-end-limit-set bit
M433->X:$00F1,13,1 ; #4 Desired-velocity-zero bit
M435->X:$00F1,15,1 ; #4 Dwell-in-progress bit
M437->X:$00F1,17,1 ; #4 Running-program bit
M438->X:$00F1,18,1 ; #4 Open-loop-mode bit
M439->Y:$0A54,14,1 ; #4 Amplifier-enabled status bit
M440->Y:$0A54,0,1 ; #4 In-position bit
M441->Y:$0A54,1,1 ; #4 Warning-following error bit
M442->Y:$0A54,2,1 ; #4 Fatal-following-error bit
M443->Y:$0A54,3,1 ; #4 Amplifier-fault-error bit
M445->Y:$0A54,10,1 ; #4 Home-complete bit
; Motor #4 Move Registers
M461->D:$00DC ; #4 Commanded position (1/[Ix08*32] cts)
M462->D:$00DF ; #4 Actual position (1/[Ix08*32] cts)
M463->D:$0A4B ; #4 Target (end) position (1/[Ix08*32] cts)
M464->D:$0A53 ; #4 Position bias (1/[Ix08*32] cts)
M465->L:$0819 ; &1 A-axis target position (engineering units)
M466->X:$00E7,0,24,S ; #4 Actual velocity (1/[Ix09*32] cts/cyc)
M467->D:$00E1 ; #4 Present master pos (1/[Ix07*32] cts)
M468->X:$00F7,8,16,S ; #4 Filter Output (DAC bits)
M469->D:$00FE ; #4 Compensation correction (1/[Ix08*32] cts)
M470->D:$00F4 ; #4 Present phase position (including fraction)
M471->X:$00F4,24,S ; #4 Present phase position (counts*Ix70)
M472->L:$0A6B ; #4 Variable jog position/distance (cts)
M473->Y:$0A55,24,S ; #4 Encoder home capture position (cts)
M474->Y:$0A6A,24,S ; #4 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &4 Status Bits
M480->X:$0A58,0,1 ; &4 Program-running bit
M481->Y:$0A57,21,1 ; &4 Circle-radius-error bit
M482->Y:$0A57,22,1 ; &4 Run-time-error bit
M484->X:$0A58,0,4 ; &4 Continuous motion request
M487->Y:$0A57,17,1 ; &4 In-position bit (AND of motors)
M488->Y:$0A57,18,1 ; &4 Warning-following-error bit (OR)
M489->Y:$0A57,19,1 ; &4 Fatal-following-error bit (OR)