Reference Manual

PMAC 2 Software Reference
406 PMAC I/0 and Memory Map
(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 Integration mode (Ix34; 0 on always; 1 on when desired
velocity zero)
17 Move timer active
18 Open-loop mode
19 Phased motor (Ix01)
20 Handwheel enabled (Ix06)
21 Positive end limit set (soft or hard [PLIM])
22 Negative end limit set (soft or hard [MLIM])
23 Motor activated (Ix00)
Y:$003D
Phase address pointer (Ix83)
X:$003E (62)
0-7 Phase offset (Ix72)
8-23 2nd phase bias (Ix79)
Y:$003E
0-7 # of commutation cycles per rev (Ix70)
8-23 Filter output/1st phase bias (Ix29)
X:$003F
Counts per Ix70 commutation cycles (Ix71)
Y:$003F
Previous phase position
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
D:$0040 (64)
Present phase position (X-register units: counts*Ix70)
X:$0041 (65)
ADC mask word (Ix84)
Y:$0041
ADC address (Ix82)
X:$0042 (66)
Estimated rotor magnetization current
Y:$0042
Slip gain (Ix78)
X:$0043 (67)
Commanded quadrature current (servo command)
Y:$0043
Commanded direct current (Ix77)
X:$0044 (68)
Actual quadrature current
Y:$0044
Actual direct current
X:$0045 (69)
Current-loop back path proportional gain (Ix76)
Y:$0045
Current-loop forward path proportional gain (Ix62)
X:$0046 (70)
Quadrature current loop integrator output
Y:$0046
Direct current loop integrator output
X:$0047 (71)
PWM scale factor (Ix66)
Y:$0047
Current-loop integral gain (Ix61)
X:$0048 (72)
Command output address (Ix02)
Y:$0048
Friction feedforward gain (Ix68)
X:$0049 (73)
(Quadrature) command value
Y:$0049
(Quadrature) command bias