Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 409
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 [PLIM])
22 Negative end limit set (soft or hard [MLIM])
23 Motor activated (Ix00)
Y:$004F
Phase address pointer (Ix83)
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)
Counts per Ix70 commutation cycles (Ix71)
Y:$0051
Previous phase position
D:$0052 (82)
Present phase position (X-register units: counts*Ix70)
X:$0053 (83)
ADC mask word (Ix84)
Y:$0053
ADC address (Ix82)
X:$0054 (84)
Estimated rotor magnetization current