Reference Manual

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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Global I-Variables 106

Ixx25 tells Turbo PMAC what registers it will access for its position-capture flags, and possibly its

overtravel-limit input flags and amplifier enable/fault flags, for Motor xx. If Ixx42 is set to 0, Ixx25

specifies the address of the amplifier flags; if Ixx42 is set to a non-zero value, Ixx42 specifies the address

of the amplifier flags. If Ixx43 is set to 0, Ixx25 specifies the address of the overtravel limit flags; if

Ixx43 if set to a non-zero value, Ixx43 specifies the address of the overtravel limit flags. Variable Ixx24

tells which of the flags from the specified registers are to be used, and how they are to be used.

The addresses for the standard flag registers are given in the default table, above. The following tables

show settings by register if changing from the default.

Ixx25 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 4

Acc-24P/V

$07B300

$07B304

$07B308

$07B30C

Second IC on 4

Acc-24P/V

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

Ixx25 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 on 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 PMAC2-style Servo ICs.

Ixx25 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

Bits 18 and 19 of Ixx24 specify what flag information comes directly into Turbo PMAC and what comes

through the MACRO ring. The following table explains the possible settings: