Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 117

Ixx43 Motor xx Overtravel-Limit Flag Address

Range: $000000 - $FFFFFF

Units: Turbo PMAC Addresses

Default: $0

Ixx43, if set to a non-zero value, specifies the address of the overtravel-limit input flags, independently of

position-capture flags and amplifier flags, for Motor xx. If Ixx43 is set to 0, Ixx25 specifies the address

of the overtravel-limit flags as well as the position-capture flags, and possibly the amplifier flags, for

Motor xx. This maintains backward compatibility with older firmware revisions in which Ixx43 was not

implemented. If overtravel limit flags are specified separately using Ixx43, they must use the same type of

ICs as Ixx25, as specified by bit 0 of Ixx24. The following tables show the standard addresses that can be

used for Ixx43.

Ixx43 Addresses for PMAC-Style Servo ICs

Servo IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$078000

$078004

$078008

$07800C

First IC on board PMAC

$078100

$078104

$078108

$07810C

Second IC on board PMAC

$078200

$078204

$078208

$07820C

First IC on first Acc-24P/V

$078300

$078304

$078308

$07830C

Second IC on first Acc-24P/V

$079200

$079204

$079208

$07920C

First IC on second Acc-24P/V

$079300

$079304

$079308

$07930C

Second IC on second Acc-24P/V

$07A200

$07A204

$07A208

$07A20C

First IC on third Acc-24P/V

$07A300

$07A304

$07A308

$07A30C

Second IC on third Acc-24P/V

$07B200

$07B204

$07B208

$07B20C

First IC on fourth Acc-24P/V

$07B300

$07B304

$07B308

$07B30C

Second IC on fourth Acc-24P/V

Bit 0 of Ixx24 must be set to 0 to use PMAC-style Servo ICs.

Ixx43 Addresses for PMAC2-Style Servo ICs

Servo

IC #

Chan. 1

Chan. 2

Chan. 3

Chan. 4

Notes

$078000

$078008

$078010

$078018

First IC on board PMAC2, 3U stack

$078100

$078108

$078110

$078118

Second IC on board PMAC2, 3U stack

$078200

$078208

$078210

$078218

First Acc-24E2x, first IC first Acc-24P/V2

$078300

$078308

$078310

$078318

Second Acc-24E2x, second IC on first Acc-24P/V2

$079200

$079208

$079210

$079218

Third Acc-24E2x, first IC on second Acc-24P/V2

$079300

$079308

$079310

$079318

Fourth Acc-24E2x, second IC on second Acc-24P/V2

$07A200

$07A208

$07A210

$07A218

Fifth Acc-24E2x, first IC on third Acc-24P/V2

$07A300

$07A308

$07A310

$07A318

Sixth Acc-24E2x, second IC on third Acc-24P/V2

$07B200

$07B208

$07B210

$07B218

Seventh Acc-24E2x, first IC on fourth Acc-24P/V2

$07B300

$07B308

$07B310

$07B318

Eighth Acc-24E2x, second IC on fourth Acc-24P/V2

Bit 0 of Ixx24 must be set to 1 to use PMAC2style Servo ICs.

Ixx43 Addresses for MACRO Flag Holding Registers

Node #

MACRO

IC 1

MACRO

IC 2

MACRO

IC 3

MACRO

IC 4

Notes

$003440

$003450

$003460

$003470

MACRO Flag Register Sets 0, 16, 32, 48

$003441

$003451

$003461

$003471

MACRO Flag Register Sets 1, 17, 33, 49

$003444

$003454

$003464

$003474

MACRO Flag Register Sets 4, 20, 36, 52

$003445

$003455

$003465

$003475

MACRO Flag Register Sets 5, 21, 37, 53

$003448

$003458

$003468

$003478

MACRO Flag Register Sets 8, 24, 40, 56

$003449

$003459

$003469

$003479

MACRO Flag Register Sets 9, 25, 41, 57

$00344C

$00345C

$00346C

$00347C

MACRO Flag Register Sets 12, 28, 44, 60

$00344D

$00345D

$00346D

$00347D

MACRO Flag Register Sets 13, 29, 45, 61

Bit 0 of Ixx24 must be set to 1 to use MACRO flag holding registers.