Reference Manual
PMAC 2 Software Reference
436 PMAC I/0 and Memory Map
Bit Format of Request Words
Bit Request (1 = Action Requested; 0 = No Action Requested)
0-7 (Reserved for Delta Tau Future Use)
8 Jog-Minus (Motor Only) *
9 Jog-Plus (Motor Only) *
10 Pre-Jog (Motor Only)
11 Start (RUN) (Coord. Sys. Only)
12 Step (STEP/QUIT) (Coord. Sys. Only)
13 Stop (ABORT) (Coord. Sys. Only)
14 Home (Motor Only)
15 Feed Hold (HOLD) (Coord. Sys. Only)
* When both Jog-Minus and Jog-Plus are set, motor will stop
Control Panel Feedrate Override
Coord. Sys. #
1 2 3 4 5 6 7 8
Host Address
0x0006 0x000A 0x000E 0x0012 0x0016 0x001A 0x001E 0x0022
PMAC Addr.
X:$D001 X:$D002 X:$D003 X:$D004 X:$D005 X:$D006 X:$D007 X:$D008
Servo Fixed Data Reporting Buffer
Global Registers for Servo Fixed Data Reporting Buffer
Address Description
(0x0024)
Y:$D009
Host Status to PMAC:
Bit 0 = 1 is Host-Busy, reading buffer; = 0 is not busy
Bits 1-15 (reserved for future use)
(0x0026)
X:$D009
PMAC Status to Host:
Bits 0-14 Servo Timer
Bit 15 = 1 is PMAC-Busy updating buffer; = 0 is not busy
(0x0028,A)
$D00A
Global Status Bits (from Y:$0003)
Low 24 Bits (First word returned on ??? command)
(0x002C,E)
$D00B
Global Status Bits (from X:$0003)
Low 24 bits (Second word returned on ??? command)
(0x0030-46)
$D00C-11
Spare Global Var.
Motor-Specific Registers for Servo Fixed Data Reporting Buffer
Motor #
1 2 3 4 5 6 7 8
Host Address
0x0048-
0x004E
0x0084-
0x008A
0x00C0-
0x00C6
0x00FC-
0x0102
0x0138-
0x013E
0x0174-
0x017A
0x01B0-
0x01B6
0x01EC-
0x01F2
PMAC Addr.
$D012-
$D013
$D021-
$D022
$D030-
$D031
$D03F-
$D040
$D04E-
$D04F
$D05D-
$D05E
$D06C-
$D06D
$D07B-
$D07C
Source Addr
$0028 $0064 $00A0 $00DC $0118 $0154 $0190 $01CC
Motor Commanded Position (64 bits; 1/(Ix08*32) counts)
Motor #
1 2 3 4 5 6 7 8
Host Address
0x0050-
0x0056
0x008C-
0x0092
0x00C8-
0x00CE
0x0104-
0x010A
0x0140-
0x0146
0x017C-
0x0182
0x01B8-
0x01BE
0x01F4-
0x01FA
PMAC Addr.
$D014-
$D015
$D023-
$D024
$D032-
$D033
$D041-
$D042
$D050-
$D051
$D05F-
$D060
$D06E-
$D06F
$D07D-
$D07E
Source Addr
$002B $0067 $00A3 $00DF $011B $0157 $0193 $01CF
Motor Actual Position (64 bits; 1/(Ix08*32) counts)