Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 417
Buffer Management Registers
X:$0E00 (3584)
1st motion program number (low 16 bits) and
entry status (high 8 bits)
Y:$0E00
1st motion program buffer storage address
X:$0E01 - X:$0EFF
2nd to 256th program # and entry status (3585 - 3839)
Y:$0E01 - Y:$0EFF
2nd to 256th program buffer storage address
X:$0F00 (3840)
PLC 0 execution address
Y:$0F00
PLC 0 buffer storage address
X:$0F01 - X:$0F1F
PLC 1 - 31 execution address
Y:$0F01 - Y:$0F1F
PLC 1 - 31 storage pointer (3841-3871)
Bits
0-15 PLC base address
22 PLC disabled
X:$0F20 (3872)
Data gather buffer start address
Y:$0F20
Data gather buffer storage address
(Option GL Lookahead Firmware Only):
X:$0F20
Lookahead buffer start address
Y:$0F20
Lookahead buffer storage address
(The addresses of the following buffer and table addresses are increased by 1.)
X:$0F21 - X:$0F28
Rotary buffer 1 - 8 start address (3873-3880)
Y:$0F21 - Y:$0F28
Rotary buffer 1 - 8 storage address
X:$0F29 (3881)
Transformation matrix buffer start address
Y:$0F29
Transformation matrix buffer storage address
X:$0F2A - X:$0F31
Motor 1-8 backlash comp table start address (3882-3889)
Y:$0F2A - Y:$0F31
Motor 1-8 backlash comp table storage address
X:$0F32 - X:$0F39
Motor 1-8 torque comp table start address (3890-3897)
Y:$0F32 - Y:$0F39
Motor 1-8 torque comp table storage address
X:$0F3A - X:$0F41
Motor 1-8 leadscrew comp table start address (3898-3905)
Y:$0F3A - Y:$0F41
Motor 1-8 leadscrew comp table storage address
X:$0F42
Start address of user data buffer (UBUFFER)
L:$1000 (4096)
Variable P0 (floating point)
L:$1001 - L:$13FF
Variables P1 - P1023 (floating point) (4097 - 5119)
L:$1400 (5120)
Variable Q0 (floating point)
L:$1401 - L:$17FF
Variables Q1 - Q1023 (floating point) (5121 - 6143)
$1800 (6144)
Start of buffer storage
$9FFF (40959)
End of buffer storage
L:$A000 - L:$BBFF
Option 16 Battery-backed parameter memory (40960 -
48127)
Note:
On boards with flash-backed main memory, registers from X/Y:$BC00 –
X/Y:$BFFF are located in the main flash-backed memory if no Option 16 battery-
backed memory is present. However, if Option 16 is present, these registers are
located instead in the battery-backed memory, and their contents will not be
retained through a power-down unless a good battery is present.
X:$BC00 (48128)
User written servo storage
Y:$BC00 (48128)
Variable M0 definition
Y:$BC01 - $BFFF
Variable M1 - M1023 definitions (48129-49151)