Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 533
PMAC2-Style Servo ASIC Registers
Note:
For addressing of alternate Servo ICs n* on the UBUS expansion port, add $20 to
the addresses for Servo IC ‘n’ shown in these tables.
IC# - Chan#
0-1
0-2
0-3
0-4
1-1
1-2
1-3
1-4
Board -
Chan#
PMAC2-1
PMAC2-2
PMAC2-3
PMAC2-4
PMAC2-5
PMAC2-6
PMAC2-7
PMAC2-8
Address
$078000
$078008
$078010
$078018
$078100
$078108
$078110
$078118
IC# - Chan#
2-1
2-2
2-3
2-4
3-1
3-2
3-3
3-4
Board -
Chan#
24P/V/E2
#1 - 1
24P/V/E2 #1
- 2
24P/V/E2
#1 - 3
24P/V/E2
#1 - 4
24P/V/E2
#1 - 5
24P/V/E2
#1 - 6
24P/V/E2
#1 - 7
24P/V/E2
#1 - 8
Address
$078200
$078208
$078210
$078218
$078300
$078308
$078310
$078318
IC# - Chan#
4-1
4-2
4-3
4-4
5-1
5-2
5-3
5-4
Board -
Chan#
24P/V/E2
#2 - 1
24P/V/E2
#2 - 2
24P/V/E2
#2 - 3
24P/V/E2
#2 - 4
24P/V/E2
#2 - 5
24P/V/E2
#2 - 6
24P/V/E2
#2 - 7
24P/V/E2
#2 - 8
Address
$079200
$079208
$079210
$079218
$079300
$079308
$079310
$079318
IC# - Chan#
6-1
6-2
6-3
6-4
7-1
7-2
7-3
7-4
Board -
Chan#
24P/V/E2
#3 - 1
24P/V/E2
#3 - 2
24P/V/E2
#3 - 3
24P/V/E2
#3 - 4
24P/V/E2
#3 - 5
24P/V/E2
#3 - 6
24P/V/E2
#3 - 7
24P/V/E2
#3 - 8
Address
$07A200
$07A208
$07A210
$07A218
$07A300
$07A308
$07A310
$07A318
IC# - Chan#
8-1
8-2
8-3
8-4
9-1
9-2
9-3
9-4
Board -
Chan#
24P/V/E2
#4 - 1
24P/V/E2
#4 - 2
24P/V/E2
#4 - 3
24P/V/E2
#4 - 4
24P/V/E2
#4 - 5
24P/V/E2
#4 - 6
24P/V/E2
#4 - 7
24P/V/E2
#4 - 8
Address
$07B200
$07B208
$07B210
$07B218
$07B300
$07B308
$07B310
$07B318
Y:$07x0xx . Channel n Time between last two encoder counts (SCLK cycles)
Bits: 0-22: Timer (units of SCLK cycles)
23: Change-of-direction flag
Alternate use if Channel Control Word bit 18 set to 1 (Rev “D” or newer IC only):
Channel n Timer-Based Fractional Count Data (unsigned)
Bits: 0-11 Compare “A” fractional count (bit 11 = ½-count; bit 10 = ¼-count; etc.)
12-23 Servo-captured fractional count (bit 23 = ½-count; bit 22 = ¼-count; etc.)
X:$07xx0x Channel n Status Word
Bits: 0-2 Capture Hall Effect Device State
3 Invalid demultiplex of C, U, V, & W
4-7 Reserved for future use (reports as 0)
8 Encoder Count Error (0 on counter reset, 1 on illegal transition)
9 Position Compare (EQUn) output value
10 Position-Captured-On-Gated-Index Flag
(=0 on read of captured position register, =1 on trigger capture)
11 Position-Captured Flag (on any trigger)
(=0 on read of captured position register, =1 on trigger capture)
12 Encoder Channel A (CHAn) Input Value
13 Encoder Channel B (CHBn) Input Value
14 Encoder Channel C (Index, CHCn) Input Value (ungated)
15 Amplifier Fault (FAULTn) Input Value
16 Home Flag (HMFLn) Input Value
17 Positive End Limit (PLIMn) Input Value