Reference Manual

PMAC 2 Software Reference
404 PMAC I/0 and Memory Map
Motor #
1 2 3 4 5 6 7 8
Hex
[$0050] [$008C] [$00C8] [$0104] [$0140] [$017C] [$01B8] [$01F4]
Decimal
80 140 200 260 320 380 440 500
X:$0050 (80)
0-7 Phase offset (Ix72)
8-23 2nd phase bias (Ix79)
Y:$0050
0-7 # of commutation cycles per rev (Ix70)
8-23 Filter output/1st phase bias (Ix29)
X:$0051 (81)
Magnetization current (Ix77)
Y:$0051
Previous phase position
X:$0052 (82)
Slip frequency
Y:$0052
Counts per Ix70 commutation cycles (Ix71)
D:$0053 (83)
Present phase position (X register units: counts*Ix70,
range -Ix71/2 - Ix71/2-1)
X:$0054 (84)
Phase advance
Y:$0054
Phase advance gain (Ix76)
X:$0055 (85)
Slip Gain (Ix78)
Y:$0055
Phased DAC amplitude
X:$0056 (86)
Command output address (Ix02)
Y:$0056
Velocity Phase Advance Gain (Ix76)
X:$0057 (87)
Servo command value
Y:$0057
Command internal offset
X:$0058 (88)
Velocity node internal offset
$0059-$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: PMAC2, PID Servo Algorithm
This section provides addresses for motor calculation registers for PMAC2 boards with the standard PID
servo algorithm (without 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)