Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 496
23 (Reserved for future use)
Y:$000006 Global Status Register
(Second word returned on ??? command)
0 Abort input
1-2 (Reserved for future use)
3 MACRO ring sync packet fault
4 MACRO ring break detected
5 Ring break message received
6 Clearing FSAVE flash sector
7 Bad FSAVE flash sector
8 Modbus interface active
9 MACRO ring active
10 MACRO ring test enable
11 Fixed Buffer Full
12-15 (Internal use)
16 3U Turbo System
17 PLC Buffer Open
18 ASCII Rotary Buffer Open
19 Motion Program Buffer Open
20 Binary Rotary Buffer Open
21 CPU Type Bit 0
22 VME Board
23 Ultralite Board
D:$000007 - $00000A Temporary storage
X:$00000B Last real-time interrupt execution time (CPU cycles / 2)
Y:$00000B Longest real-time interrupt execution time (CPU cycles / 2)
D:$00000C - $000016 Temporary storage
D:$000017 Real-time counter (1/1024 sec since power-up/reset, or if Opt 18B
is present, since 12am 1/1/2000)
D:$000018 - $000023 Temporary storage
Y:$00002A Host-addressing values
0-4 Addressed motor number minus 1
5-9 Addressed coordinate system number minus 1
X:$000022 Last background cycle time (CPU cycles/2)
Y:$000022 Longest background cycle time (CPU cycles/2)
X:$000024 P-Buffer Base Address
Y:$000024 Display Buffer Pointer
X:$000025 Minimum watchdog timer count
Y:$000025 Watchdog timer counter value
D:$000026 Global I-variables
X:$000028 Servo interrupt time (I10)
X:$000030 Synchronous M-variable buffer size (minus 1)
X:$00003B Maximum compensation table number
Y:$00003B Maximum active coordinate system number
X:$00003C Maximum commutated motor number
Y:$00003C Maximum servoed motor number