Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 499
Y:$000x9F/1F Motor PID integration limit (Ixx63); ESA G0 gain (Iyy36/86)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Ax
$00012x
$0001Ax
$00022x
$0002Ax
$00032x
$0003Ax
$00042x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Ax
$00052x
$0005Ax
$00062x
$0006Ax
$00072x
$0007Ax
$00082x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Ax
$00092x
$0009Ax
$000A2x
$000AAx
$000B2x
$000BAx
$000C2x
Motor #
25
26
27
28
29
30
31
32
Address
$000CAx
$000D2x
$000DAx
$000E2x
$000EAx
$000F2x
$000FAx
$00102x
X:$000xA0/20 Motor PID integrated error residual; ESA UG1 term
Y:$000xA0/20 Motor PID N1 notch filter gain (Ixx36);
Motor ESA G1 gain (Iyy37/87)
X:$000xA1/21 Motor PID intermediate term; ESA UG2 term
Y:$000xA1/21 Motor PID N2 notch filter gain (Ixx37);
Motor ESA G2 gain (Iyy38/88)
X:$000xA2/22 Motor PID intermediate term; ESA UD1 term
Y:$000xA2/22 Motor PID D1 notch filter gain (Ixx38);
Motor ESA D1 gain (Iyy34/84)
X:$000xA3/23 Motor PID intermediate term; ESA UD2 term
Y:$000xA3/23 Motor PID D2 notch filter gain (Ixx39);
Motor ESA D2 gain (Iyy35/85)
X:$000xA4/24 Motor ESA GS scale gain (Iyy39/89)
Y:$000xA4/24 Motor ESA H0 gain (Iyy14/64)
D:$000xA5/25 Motor previous net commanded position (1/[Ixx08*32] cts)
X:$000xA6/26 Motor ESA H1 gain (Iyy15/65)
Y:$000xA6/26 Motor ESA K0 gain (Iyy29/79)
X:$000xA7/27 Motor ESA UK1 term
Y:$000xA7/27 Motor ESA K1 gain (Iyy30/80)
X:$000xA8/28 Motor ESA UK2 term
Y:$000xA8/28 Motor ESA K2 gain (Iyy31/81)
X:$000xA9/29 Motor ESA UK3 term
Y:$000xA9/29 Motor ESA K3 gain (Iyy32/82)
X:$000XAA/2A Motor ESA UL1 term
Y:$000xAA/2A Motor ESA L1 gain (Iyy26/76)
X:$000xAB/2B Motor ESA UL2 term
Y:$000xAB/2B Motor ESA L2 gain (Iyy27/77)
X:$000xAC/2C Motor ESA UL3 term
Y:$000xAC/2C Motor ESA L3 gain (Iyy28/78)
X:$000xAD/2D Motor ESA KS scale gain (Iyy33/83)
Y:$000xAD/2D Motor jog move delay time (Ixx92)
X:$000xAE/2E Motor PID filter result; ESA previous command output
Y:$000xAE/2E Motor PID command output limit (Ixx69);
Motor ESA output scale factor (Ixx69)
X:$000xAF/2F Motor flag address (Ixx25)
Y:$000xAF/2F Motor flag control bits (Ixx24)