Reference Manual

PMAC 2 Software Reference
PMAC(1) Suggested M-variable Definitions 469
M793->L:$0CA4 ; #7 Z/W-Axis scale factor (cts/unit)
M794->L:$0CA5 ; #7 Axis offset (cts)
; Coordinate System &7 Variables
M797->X:$0C86,0,24,S ; &7 Host commanded time base (I10 units)
M798->X:$0C88,0,24,S ; &7 Present time base (I10 units)
; Registers associated with Encoder/DAC8 (Usually Motor #8)
M801->X:$C01D,0,24,S ; ENC8 24-bit counter position
M802->Y:$C01A,8,16,S ; DAC8 16-bit analog output
M803->X:$C01F,0,24,S ; ENC8 capture/compare position register
M804->X:$0727,0,24,S ; ENC8 interpolated position (1/32 ct)
M805->Y:$C01F,8,16,S ; ADC8 16-bit analog input
M806->Y:$C01C,0,24,U ; ENC8 time between counts (SCLK cycles)
M810->X:$C01C,10,1 ; ENC8 count-write enable control
M811->X:$C01C,11,1 ; EQU8 compare flag latch control
M812->X:$C01C,12,1 ; EQU8 compare output enable
M813->X:$C01C,13,1 ; EQU8 compare invert enable
M814->X:$C01C,14,1 ; AENA8/DIR8 Output
M816->X:$C01C,16,1 ; EQU8 compare flag
M817->X:$C01C,17,1 ; ENC8 position-captured flag
M818->X:$C01C,18,1 ; ENC8 count-error flag
M819->X:$C01C,19,1 ; ENC8 3rd channel input status
M820->X:$C01C,20,1 ; HMFL8 input status
M821->X:$C01C,21,1 ; -LIM8 input status
M822->X:$C01C,22,1 ; +LIM8 input status
M823->X:$C01C,23,1 ; FAULT8 input status
; Motor #8 Status Bits
M830->Y:$0D54,11,1 ; #8 Stopped-on-position-limit bit
M831->X:$01E1,21,1 ; #8 Positive-end-limit-set bit
M832->X:$01E1,22,1 ; #8 Negative-end-limit-set bit
M833->X:$01E1,13,1 ; #8 Desired-velocity-zero bit
M835->X:$01E1,15,1 ; #8 Dwell-in-progress bit
M837->X:$01E1,17,1 ; #8 Running-program bit
M838->X:$01E1,18,1 ; #8 Open-loop-mode bit
M839->Y:$0D54,14,1 ; #8 Amplifier-enabled status bit
M840->Y:$0D54,0,1 ; #8 In-position bit
M841->Y:$0D54,1,1 ; #8 Warning-following error bit
M842->Y:$0D54,2,1 ; #8 Fatal-following-error bit
M843->Y:$0D54,3,1 ; #8 Amplifier-fault-error bit
M845->Y:$0D54,10,1 ; #8 Home-complete bit
; Motor #8 Move Registers
M861->D:$01CC ; #8 Commanded position (1/[Ix08*32] cts)
M862->D:$01CF ; #8 Actual position (1/[Ix08*32] cts)
M863->D:$0D4B ; #8 Target (end) position (1/[Ix08*32] cts)
M864->D:$0D53 ; #8 Position bias (1/[Ix08*32] cts)
M865->L:$081D ; &1 V-axis target position (engineering units)
M866->X:$01D7,0,24,S ; #8 Actual velocity (1/[Ix09*32] cts/cyc)
M867->D:$01D1 ; #8 Present master (handwheel) pos (1/[Ix07*32] cts
; of master or (1/[Ix08*32] cts of slaved motor)