Reference Manual

PMAC 2 Software Reference
424 PMAC I/0 and Memory Map
(Bits 4-7: I9n2)
4-5 Position Capture Control
00: Immediate capture
01: Use encoder index alone
10: Use capture flag alone
11: Use encoder index and capture flag
6 Index Capture Invert Control (0=no inversion,
1=inversion)
7 Flag Capture Invert Control (0=no inversion,
1=inversion)
8-9 Capture Flag Select Control (I9n3)
00: Home Flag (HMFLn)
01: Positive End Limit (PLIMn)
10: Negative End Limit (MLIMn)
11: User Flag (USERn)
10 Encoder Counter Reset Control (1=reset)
11 Position Compare Initial State Write Enable
12 Position Compare Initial State Value
13 Position Compare Channel Select (I9n1)
(0= use this channel’s encoder; 1=use first encoder on
IC)
14 AENAn output value
15 Gated Index Select for Position Capture (I9n4)
(0=ungated index, 1=gated index)
16 Invert AB for Gated Index (I9n5)
(0: Gated Signal=A&B&C; 1: Gated Signal=A/&B/&C)
17 Yaskawa encoder index demultiplex enable (“B” rev
and newer only)
18 Hardware fractional count estimation enable (I9n9)
(“D” rev and newer only)
(0: Normal encoder timer mode;
1: Hardware fractional count estimation [“D” rev and
newer only])
19 Invert PFM Direction Control (0=no inversion,
1=invert) (I9n8)
(Bits 20-21: I9n7)
20 Invert A & B Output Control (0=no inversion, 1=invert)
21 Invert C Output Control (0=no inversion, 1=invert)
(Bits 22-23: I9n6)
22 Output A & B Mode Select (0=PWM, 1=DAC)
23 Output C Mode Select (0=PWM, 1=PFM)
Chan #
1 2 3 4 5 6 7 8
Hex
[$C006] [$C00E] [$C016] [$C01E] [$C026] [$C02E] [$C036] [$C03E]
Decimal
49158 49166 49174 49182 49190 49198 49206 49214
Chan #
9 10 11 12 13 14 15 16
Hex
[$C046] [$C04E] [$C056] [$C05E] [$C066] [$C06E] [$C076] [$C07E]
Decimal
49222 49230 49238 49246 49254 49262 49270 49278
Y:$Cxxx
Channel n ADC B Input Value
Bits
6-23 Serial ADC Value
0-5 Not used (standard ADC strobe mode) ADC header
data (alternate ADC strobe mode, “D” rev and newer