Reference Manual

PMAC 2 Software Reference
400 PMAC I/0 and Memory Map
X:$0034 (52)
Deadband size (Ix65) (1/16 count)
Y:$0034
Position error limit (Ix67) (1/16 count)
X:$0035 (53)
“Deadband gain” (Ix64)
Y:$0035
Integral gain (Ix33)
X:$0036 (54)
Integrated error residual
Y:$0036
Integrated error limit (Ix63)
D:$0037 (55)
Integrated error
X:$0038 (56)
Proportional gain (Ix30)
Y:$0038
Filter output (DAC) limit (Ix69)
D:$0039
(Filter intermediate values)
X:$003A (58)
Filter result (stored for next cycle)
X:$003B (59)
Notch filter D2 gain (Ix39)
Y:$003B
Notch filter N2 gain (Ix37)
X:$003C (60)
Notch filter D1 gain (Ix38)
Y:$003C
Notch filter N1 gain (Ix36)
X:$003D (61)
Motor servo status bits
Bits
(First word returned on ? command. See Y:$0814 for second word.)
(Refer to ? description in on-line commands for detailed description of bits.)
0-9 (Internal use)
10 Home search in progress
11 Block request
12 Abort deceleration in progress
13 Desired velocity 0
14 Data block error
15 Dwell in progress
16 Integration mode (Ix34; 0 on always; 1 on when desired
velocity zero)
17 Move timer active
18 Open-loop mode
19 Phased motor (Ix01)
20 Handwheel enabled (Ix06)
21 Positive end limit set (soft or hard [-LIM])
22 Negative end limit set (soft or hard [+LIM])
23 Motor activated (Ix00)
Y:$003D
Phase address pointer (Ix83)
X:$003E (62)
0-7 Phase offset (Ix72)
8-23 2nd phase bias (Ix79)
Y:$003E
0-7 # of commutation cycles per rev (Ix70)
8-23 Filter output/1st phase bias (Ix29)
X:$003F (63)
Magnetization current (Ix77)
Y:$003F
Previous phase position
Motor #
1 2 3 4 5 6 7 8
Hex
[$0040] [$007C] [$00B8] [$00F4] [$0130] [$016C] [$01A8] [$01E4]
Decimal
64 124 184 244 304 364 424 484
X:$0040 (64)
Slip frequency
Y:$0040 (64)
Counts per Ix70 commutation cycles (Ix71)
D:$0041 (65)
Present phase position (X register units: counts*Ix70, range -Ix71/2 -
Ix71/2-1)