Reference Manual

PMAC 2 Software Reference
402 PMAC I/0 and Memory Map
D:$002B (43)
Present actual position (1/[Ix08*32] counts)
X:$002C (44)
Master (handwheel) scale factor (Ix07)
Y:$002C
Previous master (handwheel) position
D:$002D (45)
Present master (handwheel) position (1/[Ix07*32]cts of the master or
1/[Ix08*32]cts of the slaved motor)
X:$002E (46)
Feedpot (timebase) pointer
Y:$002E (46)
Servo extension counter
X:$002F (47)
ESA S0 gain (Ix30)
Y:$002F (47)
Servo cycle extension (Ix60)
Motor #
1 2 3 4 5 6 7 8
Hex
[$0030] [$006C] [$00A8] [$00E4] [$0120] [$015C] [$0198] [$01D4]
Decimal
48 108 168 228 288 348 408 468
X:$002E (46)
Feedpot (timebase) pointer
D:$0030 (48)
Compensation correction (1/[Ix08*32] cts)
D:$0031 (48)
Following error (1/[Ix08*32] cts)
X:$0032 (50)
ESA T0 gain (Ix40)
Y:$0032
ESA S1 gain (Ix31)
X:$0033 (51)
ESA UT1 term
Y:$0033
ESA T1 gain (Ix41)
X:$0034 (52)
ESA UT2 term
Y:$0034
ESA T2 gain (Ix42)
X:$0035 (53)
ESA UT3 term
Y:$0035
ESA T3 gain (Ix43)
X:$0036 (54)
ESA UT4 term
Y:$0036
ESA T4 gain (Ix44)
X:$0037 (55)
ESA UR1 term
Y:$0037
ESA R1 gain (Ix36)
X:$0038 (56)
ESA UR2 term
Y:$0038
ESA R2 gain (Ix37)
X:$0039 (57)
ESA UR3 term
Y:$0039
ESA R3 gain (Ix38)
X:$003A (58)
ESA UR4 term
Y:$003A
ESA R4 gain (Ix39)
X:$003B (59)
Address of “velocity” encoder (Ix04)
Y:$003B
ESA TS gain (Ix45)
X:$003C (60)
ESA F0 gain (Ix32)
Y:$003C
Velocity scaling factor (Ix09)
X:$003D (61)
Actual velocity (1/[Ix09*32] cts/[Ix60+1]servo interrupts)
Y:$003D
Previous velocity-loop source position
D:$003E (62)
Previous velocity-loop extended actual position
X:$003F (63)
ESA F1 gain (Ix33)
Y:$003F
ESA G0 gain (Ix56)
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