Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 501
Y:$000xB7/37 Motor estimated rotor magnetization current
X:$000xB8/38 Motor commanded quadrature current (0 for microstep)
Y:$000xB8/38 Motor commanded direct current (0 for microstep)
X:$000xB9/39 Motor actual quadrature current
Y:$000xB9/39 Motor actual direct current
X:$000xBA/3A Motor current-loop back path proportional gain (Ixx76)
Y:$000xBA/3A Motor current-loop forward path proportional gain (Ixx62)
X:$000xBB/3B Motor commutation table pointer
Y:$000xBB/3B Motor current-loop integral gain (Ixx61)
X:$000xBC/3C Motor quadrature current loop integrator output
Y:$000xBC/3C Motor direct current loop integrator output
X:$000xBD/3D Motor commutation table pointer offset (Ixx55)
Y:$000xBD/3D Motor PWM scale factor (Ixx66)
X:$000xBE/3E Motor command output address (Ixx02)
Y:$000xBE/3E Motor delay compensation gain (Ixx56)
X:$000xBF/3F Motor (Quadrature/torque) command value (includes bias)
Y:$000xBF/3F Motor (Quadrature/torque) command bias (from TCOMP table)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Cx
$00014x
$0001Cx
$00024x
$0002Cx
$00034x
$0003Cx
$00044x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Cx
$00054x
$0005Cx
$00064x
$0006Cx
$00074x
$0007Cx
$00084x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Cx
$00094x
$0009Cx
$000A4x
$000ACx
$000B4x
$000BCx
$000C4x
Motor #
25
26
27
28
29
30
31
32
Address
$000CCx
$000D4x
$000DCx
$000E4x
$000ECx
$000F4x
$000FCx
$00104x
X:$000xC0/40 Motor fatal following error limit (Ixx11)
Y:$000xC0/40 Motor status bits
(Second word returned on ? command. See X:$000xB0/30 for first word)
(Refer to ? specification in On-line Commands for detailed description of bit meanings)
0 Background-check in-position
1 Warning following error limit exceeded
2 Fatal following error limit exceeded
3 Amplifier fault error
4 Backlash direction flag
5 I
2
T Amplifier fault error
6 Integrated fatal following error
7 Trigger move
8 Phasing reference error
9 Phasing reference in progress
10 Home complete
11 Stopped on actual position limit
12 Stopped on desired position limit
13 Foreground-check in-position
14 HomeZ flag (gets set =1 on a HOMEZ command; user must reset it to 0)
15 Assigned to C.S. (=1 when motor is assigned to a C.S.)
16-18 Coordinate definition (0=none, 1=A, 2=B, 3=C, 4=UVW, 5=I, 7=XYZ)
19 Reserved for future use
20-23 (Number of C.S. - 1) in which this motor is defined