Reference Manual

PMAC/PMAC2 Software Reference Manual
Table of Contents xi
ATAN2 ..............................................................................................................................................................365
COS...................................................................................................................................................................366
EXP...................................................................................................................................................................366
INT....................................................................................................................................................................366
LN.................................................................................................................................................................367
SIN ....................................................................................................................................................................367
SQRT.................................................................................................................................................................368
TAN...................................................................................................................................................................368
SAVED SETUP REGISTERS NOT REPRESENTED BY I-VARIABLES......................................................370
Analog Data Table Setup Registers.......................................................................................................................370
X:$0708 – Y:$070F Analog Table Setup Lines........................................................................................370
Encoder Conversion Table Setup Registers: Y:$0720 – Y:$073F ........................................................................372
Y:$0720 – Y:$073F Conversion Table Setup Lines ......................................................................................372
VME/DPRAM Addressing Setup Registers: X:$0783 – X:$078C .......................................................................389
X:$0783 VME Address Modifier................................................................................................................389
X:$0784 VME Address Modifier Don’t Care Bits .....................................................................................389
X:$0785 VME Base Address Bits A31-A24................................................................................................389
X:$0786 VME Mailbox Base Address Bits A23-A16 ISA DPRAM Base Address Bits A23-A16 .............390
X:$0787 VME Mailbox Base Address Bits A15-A08 ISA DPRAM Base Address Bits A15-A14 & Control
390
X:$0788 VME Interrupt Level ...................................................................................................................391
X:$0789 VME Interrupt Vector .................................................................................................................391
X:$078A VME DPRAM Base Address Bits A23-A20 .................................................................................391
X:$078B VME DPRAM Enable..................................................................................................................392
X:$078C VME Address Width Control.......................................................................................................392
PMAC2 Servo IC Setup Bits and Registers ..........................................................................................................393
X:$C005 etc. Bit 17 Encoder n Third-Channel Demux Control {PMAC2 only} ..........................................393
X:$C005 etc. Bit 18 Encoder n Hardware 1/T Enable {PMAC2 only}.........................................................393
X:$C014, X:$C034 Servo IC m ADC Strobe Word {PMAC2 only}..............................................................394
PMAC I/O AND MEMORY MAP.........................................................................................................................396
Global Servo Calculation Registers.......................................................................................................................397
Motor Calculation Registers: PMAC(1), PID Servo Algorithm............................................................................399
Motor Calculation Registers: PMAC(1), Extended Servo Algorithm (ESA)........................................................401
Motor Calculation Registers: PMAC2, PID Servo Algorithm ..............................................................................404
Motor Calculation Registers: PMAC2, Extended Servo Algorithm (ESA) ..........................................................407
Buffers...................................................................................................................................................................410
Encoder Conversion (Interpolation) Table............................................................................................................410
General Global Registers.......................................................................................................................................412
Motor and Coordinate System Status and Control Registers ................................................................................412
Buffer Management Registers...............................................................................................................................417
PMAC(1) DSPGATE Servo IC Registers.............................................................................................................418
PMAC2 DSPGATE1 Servo IC Registers..............................................................................................................420
PMAC2 DSPGATE2 I/O and MACRO Registers ................................................................................................425
Dual-Ported RAM (Option 2 Required) ................................................................................................................435
DPRAM Control Panel Registers .....................................................................................................................435
Control Panel Request Words...........................................................................................................................435
Bit Format of Request Words............................................................................................................................436
Control Panel Feedrate Override.....................................................................................................................436
Servo Fixed Data Reporting Buffer ..................................................................................................................436
Motor-Specific Registers for Servo Fixed Data Reporting Buffer ....................................................................436
Background Fixed Data Reporting Buffer........................................................................................................438
Motor/Coordinate System Specific Registers for Background Fixed Data Buffer............................................438
Background Variable Transfer Buffers .................................................................................................................442
PMAC to Host Transfer ....................................................................................................................................442
Variable Address Buffer Format (2x16-bit words) ...........................................................................................442