Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 548
7 Encoder loss (from T,U,V,W) (latched to 1 on loss, cleared by writing 0)
8 Encoder Count Error (0 on counter reset, 1 on illegal transition)
9 Position Compare (EQUn*) output value
10 Position-Captured-On-Gated-Index Flag
(=0 on read of captured position register, =1 on trigger capture)
11 Position-Captured Flag (on any trigger)
(=0 on read of captured position register, =1 on trigger capture)
12 Handwheel 1 Channel A (HWAn) Input Value
13 Handwheel 1 Channel B (HWBn) Input Value
14 Handwheel 1 Channel C (Index, HWCn) Input Value (ungated)
15 Amplifier Fault (FAULTn*) Input Value
16 Home Flag (HMFLn*) Input Value
17 Positive End Limit (PLIMn*) Input Value
18 Negative End Limit (MLIMn*) Input Value
19 User Flag (USERn*) Input Value
20 FlagWn* Input Value
21 FlagVn* Input Value
22 FlagUn* Input Value
23 Flag Tn* Input Value
Chan #
1*
2*
Address
$078411
$078419
Y:$07841x Handwheel n Time Since Last Encoder Count (SCLK cycles)
X:$07841x Handwheel n Phase Position Capture Register (counts)
Chan #
1*
2*
Address
$078412
$07841A
Y:$07841x Supplementary Channel n* Output A Command Value
Bits: 8-23: PWM Command Value
(appears on I/O10 & I/O11 if in dedicated mode)
0-5: Not Used
X:$07841x Handwheel n* Servo Position Capture Register
Bits: 0: Direction of last count (0=up, 1=down)
1-23: Position counter (units of counts)
Chan #
1*
2*
Address
$078413
$07841B
Y:$07841x Supplementary Channel n* Output B Command Value
Bits: 8-23: PWM Command Value
(appears on I/O08 & I/O09 if in dedicated mode)
0-5: Not used
X:$07841x Handwheel n Flag Position Capture Value; 24 bits, units of counts
Chan #
1*
2*
Address
$078414
$07841C
Y:$07841x Supplementary Channel n* Output C Command Value
Bits: 8-23: PWM Command Value (appears on PUL1 & DIR1 if in PWM mode)
0-23: PFM Command Value (appears on PUL1 & DIR1 if in PFM mode)
X:$078414 Supplementary ADC Strobe Word, 24 bits