Reference Manual

Turbo PMAC/PMAC2 Software Reference
UMAC Turbo Suggested M-Variable Definitions 683
M415->X:$078218,19 ; USER4 flag input status
M416->X:$078218,9 ; ENC4 compare output value
M417->X:$078218,11 ; ENC4 capture flag
M418->X:$078218,8 ; ENC4 count error flag
M419->X:$078218,14 ; HMFL4 flag input status
M420->X:$078218,16 ; CHC4 input status
M421->X:$078218,17 ; PLIM4 flag input status
M422->X:$078218,18 ; MLIM4 flag input status
M423->X:$078218,15 ; FAULT4 flag input status
M424->X:$078218,20 ; Channel 4 W flag input status
M425->X:$078218,21 ; Channel 4 V flag input status
M426->X:$078218,22 ; Channel 4 U flag input status
M427->X:$078218,23 ; Channel 4 T flag input status
M428->X:$078218,20,4 ; Channel 4 TUVW inputs as 4-bit value
Motor #4 Status Bits
M430->Y:$000240,11,1 ; #4 Stopped-on-position-limit bit
M431->X:$000230,21,1 ; #4 Positive-end-limit-set bit
M432->X:$000230,22,1 ; #4 Negative-end-limit-set bit
M433->X:$000230,13,1 ; #4 Desired-velocity-zero bit
M435->X:$000230,15,1 ; #4 Dwell-in-progress bit
M437->X:$000230,17,1 ; #4 Running-program bit
M438->X:$000230,18,1 ; #4 Open-loop-mode bit
M439->X:$000230,19,1 ; #4 Amplifier-enabled status bit
M440->Y:$000240,0,1 ; #4 Background in-position bit
M441->Y:$000240,1,1 ; #4 Warning-following error bit
M442->Y:$000240,2,1 ; #4 Fatal-following-error bit
M443->Y:$000240,3,1 ; #4 Amplifier-fault-error bit
M444->Y:$000240,13,1 ; #4 Foreground in-position bit
M445->Y:$000240,10,1 ; #4 Home-complete bit
M446->Y:$000240,6,1 ; #4 Integrated following error fault bit
M447->Y:$000240,5,1 ; #4 I2T fault bit
M448->Y:$000240,8,1 ; #4 Phasing error fault bit
M449->Y:$000240,9,1 ; #4 Phasing search-in-progress bit
MACRO IC 0 Node 5 Flag Registers (usually used for Motor #4)
M450->X:$003445,0,24 ; MACRO IC 0 Node 5 flag status register
M451->Y:$003445,0,24 ; MACRO IC 0 Node 5 flag command register
M453->X:$003445,20,4 ; MACRO IC 0 Node 5 TUVW flags
M454->Y:$003445,14,1 ; MACRO IC 0 Node 5 amplifier enable flag
M455->X:$003445,15,1 ; MACRO IC 0 Node 5 node/amplifier fault flag
M456->X:$003445,16,1 ; MACRO IC 0 Node 5 home flag
M457->X:$003445,17,1 ; MACRO IC 0 Node 5 positive limit flag
M458->X:$003445,18,1 ; MACRO IC 0 Node 5 negative limit flag
M459->X:$003445,19,1 ; MACRO IC 0 Node 5 user flag
Motor #4 Move Registers
M461->D:$000208 ; #4 Commanded position (1/[Ixx08*32] cts)
M462->D:$00020B ; #4 Actual position (1/[Ixx08*32] cts)
M463->D:$000247 ; #4 Target (end) position (1/[Ixx08*32] cts)
M464->D:$00024C ; #4 Position bias (1/[Ixx08*32] cts)
M466->X:$00021D,0,24,S ; #4 Actual velocity (1/[Ixx09*32] cts/cyc)
M467->D:$00020D ; #4 Present master pos (1/[Ixx07*32] cts)
M468->X:$00023F,8,16,S ; #4 Filter Output (16-bit DAC bits)