Reference Manual

PMAC 2 Software Reference
410 PMAC I/0 and Memory Map
Y:$0054
Slip gain (Ix78)
X:$0055 (85)
Commanded quadrature current (servo command)
Y:$0055
Commanded direct current (Ix77)
X:$0056 (86)
Actual quadrature current
Y:$0056
Actual direct current
X:$0057 (87)
Current-loop back path proportional gain (Ix76)
Y:$0057
Current-loop forward path proportional gain (Ix62)
X:$0058 (88)
Quadrature current loop integrator output
Y:$0058
Direct current loop integrator output
X:$0059 (89)
PWM scale factor (Ix66)
Y:$0059
Current-loop integral gain (Ix61)
X:$005A (90)
Command output address (Ix02)
Y:$005A
Friction feedforward gain (Ix68)
X:$005B (91)
(Quadrature) command value
Y:$005B
(Quadrature) command bias
$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)
Buffers
X:$0400-$04FF
Commutation sine table [2
23
*SIN((address-
$400)*360°/256)]
(1024-1279)
X:$0600-$06FF
Command character queue (512-767)
Y:$0600-$06FF
Response character queue
X:$0700-$0701
User count-down timer registers (servo cycles) (1792-1793)
Y:$0700-$0701
User count-down timer registers (servo cycles)
X:$0708-$070F
Auto-converted ACC-36 ADC registers 9-16 (1800-1807)
Y:$0708-$070F
Auto-converted ACC-36 ADC registers 1-8
Encoder Conversion (Interpolation) Table
X:$0720-$073F
Converted encoder and time base data (1824-1855)
Y:$0720-$073F
Encoder conversion source and format