Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 431
Chan #
1* 2*
Hex
[$C095] [$C09D]
Decimal
49301 49309
Y:$C09x
Supplementary Channel n* ADC A Input Value (uses
SEL2 in dedicated mode)
Bits
6-23 Serial ADC Value
0-5 Not used
X:$C09x
Supplementary Channel n* (Handwheel n) Control
Word
0-1 Encoder Decode Control
00: Pulse and direction decode
01: x1 quadrature decode
10: x2 quadrature decode
11: x4 quadrature decode
2-3 Direction & Timer Control
00: Standard timer control, external signal source, no
inversion
01: Standard timer control, external signal source,
invert direction
10: Standard timer control, internal PFM source, no
inversion
11: Alternate timer control, external signal source
4-5 Position Capture Control
00: Software capture (by setting bit 6)
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
00: Home Flag (HMFLn*)
01: Positive Limit (PLIMn*)
10: Negative 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 (0= use this channel’s
encoder; 1=use first encoder on IC)
14 AENAn* output value
15 Gated Index Select for Position Capture (0=ungated
index, 1=gated index)
16 Invert AB for Gated Index (0: Gated Signal=A&B&C;
1: Gated Signal=A/&B/&C)
17-18 Not used (report as 0)
19 Invert PFM Direction Control (0=no inversion,
1=invert)
20 Invert A & B Output Control (0=no inversion, 1=invert)
21 Invert C Output Control (0=no inversion, 1=invert)