Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 502
L:$000xC1/41 Motor jog speed (Ixx22) [floating point]
L:$000xC2/42 Motor jog max. acceleration (Ixx19) [floating point]
X:$000xC3/43 Motor jog/home S-curve time (Ixx21)
Y:$000xC3/43 Motor jog/home acceleration time (Ixx20)
L:$000xC4/44 Motor limit/abort acceleration (Ixx15) [floating point]
X:$000xC5/45 Motor in-position band (Ixx28)
Y:$000xC5/45 Motor warning following error limit (Ixx12)
D:$000xC6/46 Motor target velocity
D:$000xC7/47 Motor target (& pre-jog) position (1/[Ixx08*32] cts)
D:$000xC8/48 Motor delta target position (1/[Ixx08*32] cts)
L:$000xC9/49 Motor delta position (floating point)
L:$000xCA/4A Motor maximum velocity (Ixx16, cts/msec, floating point)
L:$000xCB/4B Motor maximum acceleration (Ixx17, cts/msec
2
, floating point)
D:$000xCC/4C Motor position bias (1/[Ixx08*32] cts)
X:$000xCD/4D Motor home offset position (Ixx26)
Y:$000xCD/4D Motor I-variable bits
0 – 3 Power-on Mode (Ixx80)
4 – 23 (Reserved for future use)
X:$000xCE/4E Motor phase-finding parameters
0 – 7 Phase-finding time (Ixx74)
8 – 23 Phase-finding torque (Ixx73)
Y:$000xCE/4E Motor encoder home capture position offset (counts)
L:$000xCF/4F Motor X/U/A/B/C-Axis coefficient (floating-point)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Dx
$00015x
$0001Dx
$00025x
$0002Dx
$00035x
$0003Dx
$00045x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Dx
$00055x
$0005Dx
$00065x
$0006Dx
$00075x
$0007Dx
$00085x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Dx
$00095x
$0009Dx
$000A5x
$000ADx
$000B5x
$000BDx
$000C5x
Motor #
25
26
27
28
29
30
31
32
Address
$000CDx
$000D5x
$000DDx
$000E5x
$000EDx
$000F5x
$000FDx
$00105x
L:$000xD0/50 Motor Y/V-Axis coefficient (floating point)
L:$000xD1/51 Motor Z/W-Axis coefficient (floating point)
L:$000xD2/52 Motor axis offset (floating point)
X:$000xD3/53 Motor in-position scan counter
Y:$000xD3/53 Motor in-position number of scans (Ixx88)
X:$000xD4/54 Motor power-on phase position offset (Ixx75)
Y:$000xD4/54 Motor multiple resolver gear ratios (Ixx98, Ixx99)
X:$000xD5/55 Motor power-on phase position format (Ixx91)
Y:$000xD5/55 Motor power-on phase position address (Ixx81)
X:$000xD6/56 Motor power-on servo position format (Ixx95)
Y:$000xD6/56 Motor power-on servo position address (Ixx10)
D:$000xD7/57 Motor variable jog position/distance (counts)
X:$000xD8/58 Motor I
2
T time value
Y:$000xD8/58 Motor trigger capture position
X:$000xD9/59 Motor continuous current limit (Ixx57)
Y:$000xD9/59 Motor integrated current limit (Ixx58)