Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 508
L:$002x41 C.S. A-Axis desired move position (floating-point)
L:$002x42 C.S. B-Axis desired move position (floating-point)
L:$002x43 C.S. C-Axis desired move position (floating-point)
L:$002x44 C.S. U-Axis desired move position (floating-point)
L:$002x45 C.S. V-Axis desired move position (floating-point)
L:$002x46 C.S. W-Axis desired move position (floating-point)
L:$002x47 C.S. X-Axis desired move position (floating-point)
L:$002x48 C.S. Y-Axis desired move position (floating-point)
L:$002x49 C.S. Z-Axis desired move position (floating-point)
L:$002x4A C.S. Normal vector I component (floating-point)
L:$002x4B C.S. Normal vector J component (floating-point)
L:$002x4C C.S. Normal vector K component (floating-point)
L:$002x4D - $002x4F C.S. ABC propagated positions (floating-point)
C. S. #
1
2
3
4
5
6
7
8
Address
$00205x
$00215x
$00225x
$00235x
$00245x
$00255x
$00265x
$00275x
C. S. #
9
10
11
12
13
14
15
16
Address
$00285x
$00295x
$002A5x
$002B5x
$002C5x
$002D5x
$002E5x
$002F5x
L:$002x50 - $002x55 C.S. UVWXYZ propagated positions (floating-point)
L:$002x56 - $002x5E C.S. ABCUVWXYZ buffered positions (floating-point)
L:$002x5F C.S. Arc initial radius (floating-point)
C. S. #
1
2
3
4
5
6
7
8
Address
$00206x
$00216x
$00226x
$00236x
$00246x
$00256x
$00266x
$00276x
C. S. #
9
10
11
12
13
14
15
16
Address
$00286x
$00296x
$002A6x
$002B6x
$002C6x
$002D6x
$002E6x
$002F6x
L:$002x60 - $002xBF C.S. Internal calculation registers
C. S. #
1
2
3
4
5
6
7
8
Address
$0020Cx
$0021Cx
$0022Cx
$0023Cx
$0024Cx
$0025Cx
$0026Cx
$0027Cx
C. S. #
9
10
11
12
13
14
15
16
Address
$0028Cx
$0029Cx
$002ACx
$002BCx
$002CCx
$002DCx
$002ECx
$002FCx
L:$002xC0 - $002xFF C.S. Subroutine Stack
Program and Buffer Pointers
X:$003000 First motion program number (low 16 bits)
and entry status (high 8 bits)
Y:$003000 First motion program buffer storage address
X:$003001 - $0030DF Second to 224th program # and entry status
Y:$003001 - $0030DF Second to 224th program buffer storage address
X:$0030E0 - $0030EF C.S.1 – C.S.16 forward kinematic buffer start address
Y:$0030E0 - $0030EF C.S.1 – C.S.16 forward kinematic buffer storage address
X:$0030F0 - $0030FF C.S.1 – C.S.16 inverse kinematic buffer start address
Y:$0030F0 - $0030FF C.S.1 – C.S.16 inverse kinematic buffer storage address
X:$003100 PLC 0 execution address
Bits
0 – 18 PLC execution address