Reference Manual

PMAC 2 Software Reference
482 PMAC2 Suggested M-Variable Definitions
M608->Y:$C02F,0,24,S ; ENC6 compare A position
M609->X:$C02F,0,24,S ; ENC6 compare B position
M610->X:$C02E,0,24,S ; ENC6 compare autoincrement value
M611->X:$C02D,11 ; ENC6 compare initial state write enable
M612->X:$C02D,12 ; ENC6 compare initial state
M614->X:$C02D,14 ; AENA6 output status
M615->X:$C028,19 ; USER6 flag input status
M616->X:$C028,9 ; ENC6 compare output value
M617->X:$C028,11 ; ENC6 capture flag
M618->X:$C028,8 ; ENC6 count error flag
M619->X:$C028,14 ; CHC6 input status
M620->X:$C028,16 ; HMFL6 flag input status
M621->X:$C028,17 ; PLIM6 flag input status
M622->X:$C028,18 ; MLIM6 flag input status
M623->X:$C028,15 ; FAULT6 flag input status
M624->X:$C028,20 ; Channel 6 W flag input status
M625->X:$C028,21 ; Channel 6 V flag input status
M626->X:$C028,22 ; Channel 6 U flag input status
M627->X:$C028,23 ; Channel 6 T flag input status
M628->X:$C028,20,4 ; Channel 6 TUVW inputs as 4-bit value
; Motor #6 Status Bits
M630->Y:$0BD4,11,1 ; #6 Stopped-on-position-limit bit
M631->X:$0169,21,1 ; #6 Positive-end-limit-set bit
M632->X:$0169,22,1 ; #6 Negative-end-limit-set bit
M633->X:$0169,13,1 ; #6 Desired-velocity-zero bit
M635->X:$0169,15,1 ; #6 Dwell-in-progress bit
M637->X:$0169,17,1 ; #6 Running-program bit
M638->X:$0169,18,1 ; #6 Open-loop-mode bit
M639->Y:$0BD4,14,1 ; #6 Amplifier-enabled status bit
M640->Y:$0BD4,0,1 ; #6 In-position bit
M641->Y:$0BD4,1,1 ; #6 Warning-following error bit
M642->Y:$0BD4,2,1 ; #6 Fatal-following-error bit
M643->Y:$0BD4,3,1 ; #6 Amplifier-fault-error bit
M645->Y:$0BD4,10,1 ; #6 Home-complete bit
; Motor #6 Move Registers
M661->D:$0154 ; #6 Commanded position (1/[Ix08*32] cts)
M662->D:$0157 ; #6 Actual position (1/[Ix08*32] cts)
M663->D:$0BCB ; #6 Target (end) position (1/[Ix08*32] cts)
M664->D:$0BD3 ; #6 Position bias (1/[Ix08*32] cts)
M665->L:$081B ; &1 C-axis target position (engineering units)
M666->X:$015F,0,24,S ; #6 Actual velocity (1/[Ix09*32] cts/cyc)
M667->D:$0159 ; #6 Present master pos (1/[Ix07*32] cts)
M668->X:$016F,8,16,S ; #6 Filter Output (DAC bits)
M669->D:$0176 ; #6 Compensation correction (1/[Ix08*32] cts)
M670->D:$016C ; #6 Present phase position (including fraction)
M671->X:$016C,24,S ; #6 Present phase position (counts*Ix70)