Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 461
M218->X:$C004,18,1 ; ENC2 count-error flag
M219->X:$C004,19,1 ; ENC2 3rd channel input status
M220->X:$C004,20,1 ; HMFL2 input status
M221->X:$C004,21,1 ; -LIM2 input status
M222->X:$C004,22,1 ; +LIM2 input status
M223->X:$C004,23,1 ; FAULT2 input status
; Motor #2 Status Bits
M230->Y:$08D4,11,1 ; #2 Stopped-on-position-limit bit
M231->X:$0079,21,1 ; #2 Positive-end-limit-set bit
M232->X:$0079,22,1 ; #2 Negative-end-limit-set bit
M233->X:$0079,13,1 ; #2 Desired-velocity-zero bit
M235->X:$0079,15,1 ; #2 Dwell-in-progress bit
M237->X:$0079,17,1 ; #2 Running-program bit
M238->X:$0079,18,1 ; #2 Open-loop-mode bit
M239->Y:$08D4,14,1 ; #2 Amplifier-enabled status bit
M240->Y:$08D4,0,1 ; #2 In-position bit
M241->Y:$08D4,1,1 ; #2 Warning-following error bit
M242->Y:$08D4,2,1 ; #2 Fatal-following-error bit
M243->Y:$08D4,3,1 ; #2 Amplifier-fault-error bit
M245->Y:$08D4,10,1 ; #2 Home-complete bit
; Motor #2 Move Registers
M261->D:$0064 ; #2 Commanded position (1/[Ix08*32] cts)
M262->D:$0067 ; #2 Actual position (1/[Ix08*32] cts)
M263->D:$08CB ; #2 Target (end) position (1/[Ix08*32] cts)
M264->D:$08D3 ; #2 Position bias (1/[Ix08*32] cts)
M265->L:$0820 ; &1 Y-axis target position (engineering units)
M266->X:$006F,0,24,S ; #2 Actual velocity (1/[Ix09*32] cts/cyc)
M267->D:$0069 ; #2 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)
M268->X:$0081,8,16,S ; #2 Filter Output (DAC bits)
M269->D:$0082 ; #2 Compensation correction
M270->D:$007D ; #2 Present phase position; includes fraction in Y-register
M271->X:$007D,0,24,S ; #2 Present phase position (counts*Ix70)
M272->L:$08EB ; #2 Variable jog position/distance (counts)
M273->Y:$08D5,0,24,S ; #2 Encoder home capture offset (counts)
M274->Y:$08EA,24,S ; #2 Averaged actual velocity (1/[Ix09*32] cts/cyc)
; Coordinate System &2 Status Bits
M280->X:$08D8,0,1 ; &2 Program-running bit
M281->Y:$08D7,21,1 ; &2 Circle-radius-error bit
M282->Y:$08D7,22,1 ; &2 Run-time-error bit
M284->X:$08D8,4,1 ; &2 Continuous motion request
M287->Y:$08D7,17,1 ; &2 In-position bit (AND of motors)
M288->Y:$08D7,18,1 ; &2 Warning-following-error bit (OR)
M289->Y:$08D7,19,1 ; &2 Fatal-following-error bit (OR)
M290->Y:$08D7,20,1 ; &2 Amp-fault-error bit (OR of motors)
; Motor #2 Axis Definition Registers
M291->L:$08E2 ; #2 X/U/A/B/C-Axis scale factor (cts/unit)