Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 403
X:$0040 (64)
ESA UG1 term
Y:$0040
ESA G1 gain (Ix57)
X:$0041 (65)
ESA UG2 term
Y:$0041
ESA G2 gain (Ix58)
X:$0042 (66)
ESA UD1 term
Y:$0042
ESA D1 gain (Ix54)
X:$0043 (67)
ESA UD2 term
Y:$0043
ESA D2 gain (Ix55)
X:$0044 (68)
ESA GS gain (Ix58)
Y:$0044
ESA H0 gain (Ix34)
D:$0045 (69)
Previous net desired position
X:$0046 (70)
ESA H1 gain (Ix35)
Y:$0046
ESA K0 gain (Ix49)
X:$0047 (71)
ESA UK1 term
Y:$0047
ESA K1 gain (Ix50)
X:$0048 (72)
ESA UK2 term
Y:$0048
ESA K2 gain (Ix51)
X:$0049 (73)
ESA UK3 term
Y:$0049
ESA K3 gain (Ix52)
X:$004A (74)
ESA UL1 term
Y:$004A
ESA L1 gain (Ix46)
X:$004B (75)
ESA UL2 term
Y:$004B
ESA L2 gain (Ix47)
X:$004C (76)
ESA UL3 term
Y:$004C
ESA L3 gain (Ix48)
X:$004D (77)
ESA KS gain (Ix53)
Y:$004D
(Filter intermediate value)
X:$004E (78)
Previous filter (DAC) output
Y:$004E
Filter output (DAC) limit (Ix69)
X:$004F (79)
Motor servo status 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 (Reserved for future use)
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:$004F
Phase address pointer (Ix83)