Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 495
TURBO PMAC MEMORY AND I/O MAP
Program (Machine Code) Memory
P:$000000 - $00FFFF Delta Tau-provided firmware
P:$040000 - $0407FF User-Written Servo (before user-written phase)
P:$040800 - $040BFF User-Written Servo/Phase (Opt 5Cx)
P:$040800 - $044BFF User-Written Servo/Phase (Opt 5Dx, 5Ex, 5Fx)
P:$050000 - $05FFFF Compiled PLCs (Standard Program Memory Configuration)
P:$050000 - $0BFFFF Compiled PLCs (Extended Program Memory Configuration)
Global Servo Registers
X:$000000 Servo interrupt cycle counter (servo cycles)
Y:$000000 Servo count for next real time interrupt
X:$000001 Filtered velocity pointer
Y:$000001 Real time interrupt period minus one (I8)
X:$000002 Data gathering counter (time)
Y:$000002 Data gathering period (I5049)
X:$000003 Phase cycle counter (time)
Y:$000003 Phase cycle period (I7)
X:$000004 DPRAM real-time update counter (time)
Y:$000004 DPRAM real-time update period (I19)
X:$000005 DPRAM background update counter (time)
Y:$000005 DPRAM background update period (from I19)
X:$000006 Global Status Register
(First word returned on ??? command. See ??? in the On-Line Commands section)
0 This Card Addressed Serially
1 All Cards Addressed Serially
2 (Reserved for future use)
3 No hardware clocks found
4 MACRO Ring Check Error
5 MACRO Auxiliary Communications Error
6 TWS Variable Parity Error
7 (Internal use)
8 PLCC L-variable uses illegal M-variable def
9 Real-Time Interrupt Warning
10 Flash Read Error
11 DPRAM Error
12 Firmware Checksum Error
13 Any Memory Checksum Error
14 Compensation On
15 Watchdog Timer
16 Small memory configuration
17 Gather on external trigger
18 (Reserved for future use)
19 Data gathering function on
20 Servo Error
21 CPU Type Bit 1
22 Real Time Interrupt Re-entry