Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 500
Motor #
1
2
3
4
5
6
7
8
Address
$0000Bx
$00013x
$0001Bx
$00023x
$0002Bx
$00033x
$0003Bx
$00043x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Bx
$00053x
$0005Bx
$00063x
$0006Bx
$00073x
$0007Bx
$00083x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Bx
$00093x
$0009Bx
$000A3x
$000ABx
$000B3x
$000BBx
$000C3x
Motor #
25
26
27
28
29
30
31
32
Address
$000CBx
$000D3x
$000DBx
$000E3x
$000EBx
$000F3x
$000FBx
$00103x
X:$000xB0/30 Motor servo status/control bits
(First word returned on ? command. See Y:$000xC0/40 for second word)
(Refer to ? description in on-line commands for detailed description of bits)
0 Rapid move maximum velocity select (Ixx90)
1 Alternate command output mode (Ixx96)
2 Software-capture enable (Ixx97 bit 0)
3 Trigger-on-error enable (Ixx97 bit 1)
4 Position-following (master) enable (Ixx06 bit 0)
5 Position-following (master) offset mode (Ixx06 bit 1)
6 Commutation enable (Ixx01 bit 0)
7 Y-address commutation encoder (Ixx01 bit 1)
8 User-written servo enable (Ixx59 bit 0)
9 User-written phase enable (Ixx59 bit 1)
10 Home search in progress
11 Block request
12 Abort/limit deceleration in progress
13 Desired velocity zero
14 Data block error
15 Dwell in progress
16 Integrate only at zero desired velocity (Ixx34)
17 Move timer active
18 Open loop mode
19 Amplifier enabled
20 Extended servo algorithm enable (Iyy00/Iyy50)
21 Positive end limit set (soft or hard)
22 Negative end limit set (soft or hard)
23 Motor activated (Ixx00)
Y:$000xB0/30 Motor phase address pointer (Ixx83)
X:$000xB1/31 Motor block execution pointer
Y:$000xB1/31 Motor friction feedforward gain (Ixx68)
X:$000xB2/32 Motor number of commutation cycles (Ixx70)
Y:$000xB2/32 Motor previous phase position
X:$000xB3/33 Motor B phase bias (Ixx79)
Y:$000xB3/33 Motor A phase bias (Ixx29)
D:$000xB4/34 Motor present phase position (X-register units: counts*Ixx70)
X:$000xB5/35 Motor counts per Ixx70 commutation cycles (Ixx71)
Y:$000xB5/35 Motor phase offset (Ixx72)
X:$000xB6/36 Motor ADC mask word (Ixx84)
Y:$000xB6/36 Motor ADC address (Ixx82)
X:$000xB7/37 Motor slip gain (Ixx78)