Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 405
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
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
Servo cycle extension (Ix60)
D:$002F
Previous net desired position (1/[Ix08*32] counts)
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:$0030 (48)
Velocity feedforward gain (Ix32)
Y:$0030
Previous desired velocity
X:$0031 (49)
Address of “velocity” encoder (Ix04)
Y:$0031
Previous “velocity” position
X:$0032 (50)
Acceleration feedforward gain (Ix35)
Y:$0032
“Velocity” scaling factor (Ix09)
X:$0033 (51)
Actual velocity (1/[Ix09*32] cts/[Ix60+1]servo
interrupts)
Y:$0033
Derivative gain (Ix31)
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