Reference Manual

Turbo PMAC/PMAC2 Software Reference
Table of Contents xviii
- .............................................................................................................................................................. 486
* ............................................................................................................................................................. 486
/ .............................................................................................................................................................. 486
% ............................................................................................................................................................ 487
& ............................................................................................................................................................ 488
| .............................................................................................................................................................. 488
^ .............................................................................................................................................................. 489
Mathematical Functions .......................................................................................................... 489
ABS ......................................................................................................................................................... 489
ACOS ...................................................................................................................................................... 489
ASIN ....................................................................................................................................................... 490
ATAN ...................................................................................................................................................... 490
ATAN2 .................................................................................................................................................... 491
COS ........................................................................................................................................................ 492
EXP ........................................................................................................................................................ 492
INT ......................................................................................................................................................... 492
LN ........................................................................................................................................................... 493
SIN .......................................................................................................................................................... 493
SQRT ...................................................................................................................................................... 494
TAN ........................................................................................................................................................ 494
TURBO PMAC MEMORY AND I/O MAP ........................................................................ 495
Program (Machine Code) Memory .......................................................................................... 495
Global Servo Registers ............................................................................................................ 495
Temporary Stack Registers ...................................................................................................... 497
Motor Registers....................................................................................................................... 497
Global Registers ...................................................................................................................... 503
Communication Buffers .......................................................................................................... 504
Coordinate System Registers ................................................................................................... 504
Program and Buffer Pointers ................................................................................................... 508
Processed A/D Registers ......................................................................................................... 509
Additional Coordinate System Registers ................................................................................. 509
MACRO Ring Status Registers ............................................................................................... 510
MACRO Flag Registers .......................................................................................................... 511
Encoder Conversion Table Registers ....................................................................................... 511
Buffer Pointers ........................................................................................................................ 512
Commutation Sine Table ......................................................................................................... 512
User Variable Registers ........................................................................................................... 512
User Program and Buffer Storage ............................................................................................ 512
Battery-Backed RAM Registers (Option 16x required) ............................................................ 512
Dual Ported RAM Registers (Option 2x required) ................................................................... 512
DPRAM Control Panel ....................................................................................................... 513
DPRAM Control Panel Registers ........................................................................................ 514
Motor Data Reporting Buffer Control (used if I48=1 or I57=1) ......................................... 515