Reference Manual

PMAC 2 Software Reference
PMAC2 Suggested M-Variable Definitions 481
M540->Y:$0B14,0,1 ; #5 In-position bit
M541->Y:$0B14,1,1 ; #5 Warning-following error bit
M542->Y:$0B14,2,1 ; #5 Fatal-following-error bit
M543->Y:$0B14,3,1 ; #5 Amplifier-fault-error bit
M545->Y:$0B14,10,1 ; #5 Home-complete bit
; Motor #5 Move Registers
M561->D:$0118 ; #5 Commanded position (1/[Ix08*32] cts)
M562->D:$011B ; #5 Actual position (1/[Ix08*32] cts)
M563->D:$0B0B ; #5 Target (end) position (1/[Ix08*32] cts)
M564->D:$0B13 ; #5 Position bias (1/[Ix08*32] cts)
M565->L:$081A ; &1 B-axis target position (engineering units)
M566->X:$0123,0,24,S ; #5 Actual velocity (1/[Ix09*32] cts/cyc)
M567->D:$011D ; #5 Present master pos (1/[Ix07*32] cts)
M568->X:$0133,8,16,S ; #5 Filter Output (DAC bits)
M569->D:$013A ; #5 Compensation correction (1/[Ix08*32] cts)
M570->D:$0130 ; #5 Present phase position (including fraction)
M571->X:$0130,24,S ; #5 Present phase position (counts*Ix70)
M572->L:$0B2B ; #5 Variable jog position/distance (cts)
M573->Y:$0B15,24,S ; #5 Encoder home capture position (cts)
M574->Y:$0B2A,24,S ; #5 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &5 Status Bits
M580->X:$0B18,0,1 ; &5 Program-running bit
M581->Y:$0B17,21,1 ; &5 Circle-radius-error bit
M582->Y:$0B17,22,1 ; &5 Run-time-error bit
M584->X:$0B18,0,4 ; &5 Continuous motion request
M587->Y:$0B17,17,1 ; &5 In-position bit (AND of motors)
M588->Y:$0B17,18,1 ; &5 Warning-following-error bit (OR)
M589->Y:$0B17,19,1 ; &5 Fatal-following-error bit (OR)
M590->Y:$0B17,20,1 ; &5 Amp-fault-error bit (OR of motors)
; Motor #5 Axis Definition Registers
M591->L:$0B22 ; #5 X/U/A/B/C-Axis scale factor (cts/unit)
M592->L:$0B23 ; #5 Y/V-Axis scale factor (cts/unit)
M593->L:$0B24 ; #5 Z/W-Axis scale factor (cts/unit)
M594->L:$0B25 ; #5 Axis offset (cts)
; Coordinate System &5 Variables
M597->X:$0B06,0,24,S ; &5 Host commanded time base (I10 units)
M598->X:$0B08,0,24,S ; &5 Present time base (I10 units)
; Gate Array Registers for Channel 6
M601->X:$C029,0,24,S ; ENC6 24-bit counter position
M602->Y:$C02A,8,16,S ; OUT6A command value; DAC or PWM
M603->X:$C02B,0,24,S ; ENC6 captured position
M604->Y:$C02B,8,16,S ; OUT6B command value; DAC or PWM
M605->X:$0715,8,16,S ; ADC6A input image value
M606->Y:$0715,8,16,S ; ADC6B input image value
M607->Y:$C02C,8,16,S ; OUT6C command value; PFM or PWM