Reference Manual

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PMAC 2 Software Reference

438 PMAC I/0 and Memory Map

Motor #

1 2 3 4 5 6 7 8

Host Address

0x007C-

0x0082

0x00B8-

0x00BE

0x00F4-

0x00FA

0x0130-

0x0136

0x016C-

0x0172

0x01A8-

0x01AE

0x01E4-

0x01EA

0x0220-

0x0226

PMAC Addr.

$D01F-

$D020

$D02E-

$D02F

$D03D-

$D03E

$D04C-

$D04D

$D05B-

$D05C

$D06A-

$D06B

$D079-

$D07A

$D088-

$D089

Spare Registers

Background Fixed Data Reporting Buffer

Global Registers for Background Fixed Data Buffer:

Address Description

0x0228

(Y:$D08A)

Buffer Status to Host and PMAC

Bit 0: Data-Ready Flag

=1 means PMAC done updating buffer

=0 means host ready for another update from PMAC

Bits 1-15: (Reserved for future use)

0x022A

(X:$D08A)

PMAC Servo Timer: Updated at Data Ready Time (from X:$0000)

0x022C,E

($D08B)

Control Panel Hardware Port (from Y:$FFC0)

0x0230,2

($D08C)

Thumbwheel Hardware Port (from Y:$FFC1)

0x0234,6

($D08D)

Machine I/O (OPTO) Hardware Port (from Y:$FFC2)

0x0238-4A

($D08E-92)

Spare Global Variable.

Motor/Coordinate System Specific Registers for Background Fixed Data

Buffer

Motor/C.S. #

1 2 3 4 5 6 7 8

Host Address

0x024C-

0x0252

0x02C8-

0x02CE

0x0344-

0x034A

0x03C0-

0x03C6

0x043C-

0x0442

0x04B8-

0x04BE

0x0534-

0x053A

0x05B0-

0x05B6

PMAC Addr.

$D093-

$D094

$D0B2-

$D0B3

$D0D1-

$D0D2

$D0F0-

$D0F1

$D10F-

$D110

$D12E-

$D12F

$D14D-

$D14E

$D16C-

$D16D

Source Addr.

$080B $08CB $098B $0A4B $0B0B $0BCB $0C8B $0D4B

Motor Target Position (64 bits; 1/(Ix08*32) counts)

Motor/C.S. #

1 2 3 4 5 6 7 8

Host Address

0x0254-

0x025A

0x02D0-

0x02D6

0x034C-

0x0352

0x03C8-

0x03CE

0x0444-

0x044A

0x04C0-

0x04C6

0x053C-

0x0542

0x05B8-

0x05BE

PMAC Addr.

$D095-

$D096

$D0B4-

$D0B5

$D0D3-

$D0D4

$D0F2-

$D0F3

$D111-

$D112

$D130-

$D131

$D14F-

$D150

$D16E-

$D16F

Source Addr.

$0813 $08D3 $0993 $0A53 $0B13 $0BD3 $0C93 $0D53

Motor Position Bias (64 bits; 1/(Ix08*32) counts)

Motor/C.S. #

1 2 3 4 5 6 7 8

Host Address

0x025C-

0x025E

0x02D8-

0x02DA

0x0354-

0x0356

0x03D0-

0x03D2

0x044C-

0x044E

0x04C8-

0x04CA

0x0544-

0x0546

0x05C0

0x05C2

PMAC Addr.

$D097 $D0B6 $D0D5 $D0F4 $D113 $D132 $D151 $D170

Source Addr.

Y:$0814 Y:$08D4 Y:$0994 Y:$0A54 Y:$0B14

Y:$0BD4

Y:$0C94 Y:$0D54

Motor Status Word (32 bits; low 24 bits used) 2nd word returned on ? command