PMAC Quick Reference Guide
92 Appendix E – Motor Suggested M-Variable Definitions
Motor Status Bits Motor #1 Motor #2 Motor #3 Motor #4 Motor #5 Motor #6 Motor #7 Motor #8
Stopped-on-position-
limit bit
M130-
>Y:$0814,11,1
M230-
>Y:$08D4,11,1
M330-
>Y:$0994,11,1
M430-
>Y:$0A54,11,1
M530-
>Y:$0B14,11,1
M630-
>Y:$0BD4,11,1
M730-
>Y:$0C94,11,1
M830-
>Y:$0D54,11,1
Positive-end-limit-set
bit
M131-
>X:$003D,21,1
M231-
>X:$0079,21,1
M331-
>X:$00B5,21,1
M431-
>X:$00F1,21,1
M531-
>X:$012D,21,1
M631-
>X:$0169,21,1
M731-
>X:$01A5,21,1
M831-
>X:$01E1,21,1
Negative-end-limit-set
bit
M132-
>X:$003D,22,1
M232-
>X:$0079,22,1
M332-
>X:$00B5,22,1
M432-
>X:$00F1,22,1
M532-
>X:$012D,22,1
M632-
>X:$0169,22,1
M732-
>X:$01A5,22,1
M832-
>X:$01E1,22,1
Desired-velocity-zero
bit
M133-
>X:$003D,13,1
M233-
>X:$0079,13,1
M333-
>X:$00B5,13,1
M433-
>X:$00F1,13,1
M533-
>X:$012D,13,1
M633-
>X:$0169,13,1
M733-
>X:$01A5,13,1
M833-
>X:$01E1,13,1
Dwell-in-progress bit M135-
>X:$003D,15,1
M235-
>X:$0079,15,1
M335-
>X:$00B5,15,1
M435-
>X:$00F1,15,1
M535-
>X:$012D,15,1
M635-
>X:$0169,15,1
M735-
>X:$01A5,15,1
M835-
>X:$01E1,15,1
Running-program bit M137-
>X:$003D,17,1
M237-
>X:$0079,17,1
M337-
>X:$00B5,17,1
M437-
>X:$00F1,17,1
M537-
>X:$012D,17,1
M637-
>X:$0169,17,1
M737-
>X:$01A5,17,1
M837-
>X:$01E1,17,1
Open-loop-mode bit M138-
>X:$003D,18,1
M238-
>X:$0079,18,1
M338-
>X:$00B5,18,1
M438-
>X:$00F1,18,1
M538-
>X:$012D,18,1
M638-
>X:$0169,18,1
M738-
>X:$01A5,18,1
M838-
>X:$01E1,18,1
Amplifier-enabled
status bit
M139-
>Y:$0814,14,1
M239-
>Y:$08D4,14,1
M339-
>Y:$0994,14,1
M439-
>Y:$0A54,14,1
M539-
>Y:$0B14,14,1
M639-
>Y:$0BD4,14,1
M739-
>Y:$0C94,14,1
M839-
>Y:$0D54,14,1
In-position bit M140-
>Y:$0814,0,1
M240-
>Y:$08D4,0,1
M340-
>Y:$0994,0,1
M440-
>Y:$0A54,0,1
M540-
>Y:$0B14,0,1
M640-
>Y:$0BD4,0,1
M740-
>Y:$0C94,0,1
M840-
>Y:$0D54,0,1
Warning-following
error bit
M141-
>Y:$0814,1,1
M241-
>Y:$08D4,1,1
M341-
>Y:$0994,1,1
M441-
>Y:$0A54,1,1
M541-
>Y:$0B14,1,1
M641-
>Y:$0BD4,1,1
M741-
>Y:$0C94,1,1
M841-
>Y:$0D54,1,1
Fatal-following-error bit M142-
>Y:$0814,2,1
M242-
>Y:$08D4,2,1
M342-
>Y:$0994,2,1
M442-
>Y:$0A54,2,1
M542-
>Y:$0B14,2,1
M642-
>Y:$0BD4,2,1
M742-
>Y:$0C94,2,1
M842-
>Y:$0D54,2,1
Amplifier-fault-error bit M143-
>Y:$0814,3,1
M243-
>Y:$08D4,3,1
M343-
>Y:$0994,3,1
M443-
>Y:$0A54,3,1
M543-
>Y:$0B14,3,1
M643-
>Y:$0BD4,3,1
M743-
>Y:$0C94,3,1
M843-
>Y:$0D54,3,1
Home-complete bit M145-
>Y:$0814,10,1
M245-
>Y:$08D4,10,1
M345-
>Y:$0994,10,1
M445-
>Y:$0A54,10,1
M545-
>Y:$0B14,10,1
M645-
>Y:$0BD4,10,1
M745-
>Y:$0C94,10,1
M845-
>Y:$0D54,10,1
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