Reference Manual

PMAC 2 Software Reference
370 PMAC Saved Setup Registers
SAVED SETUP REGISTERS NOT REPRESENTED
BY I-VARIABLES
PMAC and PMAC2 controllers each have several setup registers that operate like I-variables, but are not
represented by I-variables. The values of these setup registers are stored in non-volatile memory with the
SAVE command, and they are restored to the active registers on a power-up/reset.
These setup registers fall in several categories: the PMAC2 analog “de-multiplexing” data table, the
encoder conversion table setup registers, the VME and DPRAM addressing setup registers, and some
PMAC2 Servo IC setup bits and registers. Each is detailed below.
Analog Data Table Setup Registers
PMAC2 controllers (and PMAC(1)-PCI controllers) are available with optional on-board analog-to-
digital converters. Option 12 provides 8 12-bit ADCs; Option 12A provides another set of 8 12-bit
ADCs. Only one of each set of 8 ADCs can be read at any time, so PMAC firmware provides a de-
multiplexing scheme that automatically breaks out each channel into a separate register, where it can be
read directly and transparently by software tasks, whether as servo-loop input or program use.
Note
In V1.17C and newer firmware, these 8 registers can be accessed as I70-I77.
X:$0708 – Y:$070F Analog Table Setup Lines
Range: $000000 - $FFFFFF
Units: none
Defaults: $0
PMAC2 firmware automatically selects and reads the channels of Option 12 and 12A A/D converters in a
round-robin fashion. This function is controlled by a data table in registers $0708 to $070F which
operates much like the encoder conversion table. The eight X registers contain the channel-select
information, and the eight Y registers contain the A/D results. Each X and Y word is split into two 12-bit
halves, where the lower 12 bits work with the first A/D converter set (Option 12), and the higher 12 bits
work with the second A/D converter set (Option 12A).
The data table looks like this:
PMAC2
Address
X Word
Upper 12 Bits
X Word
Lower 12 Bits
Y Word
Upper 12 Bits
Y Word
Lower 12 Bits
$0708 CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$0709 CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070A CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070B CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070C CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070D CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070E CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
$070F CONFIG_W2 CONFIG_W1 DATA_W2 DATA_W1
where:
CONFIG_W2 is the selection word for the second A/D converter set (Option 12A)
CONFIG_W1 is the selection word for the first A/D converter set (Option 12)
DATA_W2 is the matching A/D data from the second A/D converter set (Option 12A)
DATA_W1 is the matching A/D data from the first A/D converter set (Option 12)
A value of 0-7 in CONFIG_W1 tells PMAC2 to read channel ANAI00-07, respectively, as a 0 to+5V
input, resulting in an unsigned value.