Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 497
X:$00003E PLCC End Address
Y:$00003E Program Buffer End Address
X:$00003F Battery-Backed RAM End Address
Y:$00003F Dual-Ported RAM End Address
X:$000034 Auxiliary serial port input buffer pointer
Y:$000034 Auxiliary serial port output buffer pointer
X:$000037 Phase interrupt task execution time (CPU cycles/2)
Y:$000037 Servo interrupt task execution time (CPU cycles/2)
X:$000038 Maximum compensation table number
Y:$000038 Maximum active coordinate system number
X:$000039 Maximum commutated motor number
Y:$000039 Maximum servoed motor number
Temporary Stack Registers
X/Y:$000040 - $00007F Temporary Stack registers
Motor Registers
Motor #
1
2
3
4
5
6
7
8
Address
$00008x
$00010x
$00018x
$00020x
$00028x
$00030x
$00038x
$00040x
Motor #
9
10
11
12
13
14
15
16
Address
$00048x
$00050x
$00058x
$00060x
$00068x
$00070x
$00078x
$00080x
Motor #
17
18
19
20
21
22
23
24
Address
$00088x
$00090x
$00098x
$000A0x
$000A8x
$000B0x
$000B8x
$000C0x
Motor #
25
26
27
28
29
30
31
32
Address
$000C8x
$000D0x
$000D8x
$000E0x
$000E8x
$000F0x
$000F8x
$00100x
D:$000x80/00 Motor time left in move (X-register units msec*2 at %100)
D:$000x81/01 Motor present desired jerk residual
D:$000x82/02 Motor present desired jerk (dA/dt)
D:$000x83/03 Motor present desired acceleration residual
D:$000x84/04 Motor present desired acceleration (X-register units
6/[Ixx08*32] cts/msec
2
at %100; Y is fractional)
X:$000x85/05 Motor present desired velocity residual
Y:$000x85/05 Motor backlash size
D:$000x86/06 Motor present desired velocity (X-register units
3/[Ixx08*32] cts/msec at %100; Y is fractional)
D:$000x87/07 Motor present desired position residual
D:$000x88/08 Motor present desired position (1/[Ixx08*32] counts)
X:$000x89/09 Motor position feedback pointer (Ixx03)
Y:$000x89/09 Motor position scaling factor (Ixx08)
X:$000x8A/0A Motor master (handwheel) register pointer (Ixx05)
Y:$000x8A/0A Motor previous actual source position value
D:$000x8B/0B Motor present actual position (1/[Ixx08*32] counts)
X:$000x8C/0C Motor master (handwheel) scale factor (Ixx07)
Y:$000x8C/0C Motor previous master (handwheel) source position (1/32 ct)
D:$000x8D/0D Motor present master (handwheel) position (1/[Ixx07*32]cts