Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 401
X:$0042 (66)
Phase advance
Y:$0042
Phase advance gain (Ix76)
X:$0043 (67)
Slip Gain (Ix78)
Y:$0043
Phased DAC amplitude
X:$0044 (68)
Command output address (Ix02)
Y:$0044
Velocity Phase Advance Gain (Ix76)
X:$0045 (69)
Filter command value
Y:$0045
Command (torque) internal offset
D:$0046 (70)
Compensation correction (1/[Ix08*32] cts
D:$0047 (71)
Following error (1/[Ix08*32] cts)
X:$0048 (72)
Friction feedforward gain (Ix68)
$0049-$005B
(Reserved for future use)
$005C-$0097
Motor #2 registers (as above) (92-151)
$0098-$00D3
Motor #3 registers (as above) (152-211)
$00D4-$010F
Motor #4 registers (as above) (212-271)
$0110-$014B
Motor #5 registers (as above) (272-331)
$014C-$0187
Motor #6 registers (as above) (332-391)
$0188-$01C3
Motor #7 registers (as above) (392-451)
$01C4-$01FF
Motor #8 registers (as above) (452-511)
Motor Calculation Registers: PMAC(1), Extended Servo Algorithm
(ESA)
This section provides addresses for motor calculation registers for PMAC(1) boards with the Option 6
Extended Servo Algorithm.
(The addresses given are for Motor #1. For the registers for another motor x, add (x-1)*$3C – (x-1)*60 –
to the appropriate motor #1 address. The address table shown every 16 addresses (every 10hex) gives the
matching addresses for motors 1-8 to make address calculations easier.
Example: Using the table, Motor 6 actual position address is $014C + ($28-$20) = $0154. Using the
formula, it is (6-1)*$003C+$0028 = $0154
Motor #
1 2 3 4 5 6 7 8
Hex
[$0020] [$005C] [$0098] [$00D4] [$0110] [$014C] [$0188] [$01C4]
Decimal
32 92 152 212 272 332 392 452
D:$0020 (32)
Time left in move (X-register units msec*2 at %100)
D:$0021 (33)
Present desired jerk residual
D:$0022 (34)
Present desired jerk (dA/dt)
D:$0023 (35)
Present desired acceleration residual
D:$0024 (36)
Present desired acceleration (X-register units 6/[Ix08*32] cts/msec
2
at %100); Y is fractional
D:$0025 (37)
Present desired velocity residual
D:$0026 (38)
Present desired velocity (X-register units 3/[Ix08*32] cts/msec at
%100); Y is fractional
D:$0027 (39)
Present desired position residual
D:$0028 (40)
Present desired position (1/[Ix08*32] counts)
X:$0029 (41)
Address of position feedback (Ix03)
Y:$0029
Position scaling factor (Ix08)
X:$002A (42)
Address of master (handwheel) register (Ix05)
Y:$002A
Previous actual position value