Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 503
D:$000xDA/5A Motor integrated current value (X-reg units of Ixx58)
L:$000xDB/5B Motor homing speed (cts/msec; floating point)
D:$000xDC/5C Motor positive software position limit (Ixx13, cts)
D:$000xDD/5D Motor negative software position limit (Ixx14, cts)
D:$000xDE/5E Motor position rollover range (Ixx27, cts)
X:$000xDF/5F Motor backlash slew rate (Ixx85)
Y:$000xDF/5F Motor backlash hysteresis (Ixx87)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Ex
$00016x
$0001Ex
$00026x
$0002Ex
$00036x
$0003Ex
$00046x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Ex
$00056x
$0005Ex
$00066x
$0006Ex
$00076x
$0007Ex
$00086x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Ex
$00096x
$0009Ex
$000A6x
$000AEx
$000B6x
$000BEx
$000C6x
Motor #
25
26
27
28
29
30
31
32
Address
$000CEx
$000D6x
$000DEx
$000E6x
$000EEx
$000F6x
$000FEx
$00106x
D:$000xE0/60 Motor backlash saved position
X:$000xE1/61 Motor backlash size (Ixx86)
Y:$000xE1/61 Motor present backlash
X:$000xE2/62 Motor software position limit offset (Ixx41)
D:$000xE3/63 - $000xEA/6A (Reserved for future use)
X:$000xE5/65 Motor amplifier flag address (Ixx42)
Y:$000xE5/65 Motor limit flag address (Ixx43)
D:$000xE6/66 - $000xEA/6A (Reserved for future use)
D:$000xEB/6B - $000xEE/6E Motor spline table
D:$000xEF/6F Motor filtered velocity (1/[Ixx08*32] cts/servo-interrupt)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Fx
$00017x
$0001Fx
$00027x
$0002Fx
$00037x
$0003Fx
$00047x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Fx
$00057x
$0005Fx
$00067x
$0006Fx
$00077x
$0007Fx
$00087x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Fx
$00097x
$0009Fx
$000A7x
$000AFx
$000B7x
$000BFx
$000C7x
Motor #
25
26
27
28
29
30
31
32
Address
$000CFx
$000D7x
$000DFx
$000E7x
$000EFx
$000F7x
$000FFx
$00107x
D:$000xF0/70 - $000xFF/7F Motor position history for filtered velocity
Global Registers
Y:$001080 - $0010CF 80-character display buffer
X:$001080 Running software checksum value (frozen if any error)
X:$001083 VME bus address modifier (I90)
X:$001084 VME bus address modifier “don’t care” bits (I91)
X:$001085 VME bus base address bits A31-A24 (I92)
X:$001086 VME bus mailbox base address bits A23-A16 /
ISA bus DPRAM base address bits A23-A16 (I93)
X:$001087 VME bus mailbox base address bits A15-A08 /
ISA bus DPRAM base address bits A15-A14 & Enable (I94)
X:$001088 VME bus interrupt level (I95)