Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 441
Note 1:
The following is the logic used in the PMAC to determine which variable will be
put in this slot. It is controlled by bits of the coordinate system program execution
status word (PSTATUS):
If (PSTATUS.7 == 1 && PSTATUS.5 == 0)
Use Source A
Else
......If (PSTATUS.9 == 1)
...... Use Source B
......Else
...... Use Source C
......Endif
Endif
PSTATUS.7 is the Segmented move flag ( I13 != 0 ).
PSTATUS.5 is the Segmented move stop flag.
PSTATUS.9 is the Tool Compensation flag.
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02B0-
0x02B2
0x032C-
0x032E
0x03A8-
0x03AA
0x0424-
0x0426
0x04A0-
0x04A2
0x051C-
0x051E
0x0598-
0x059A
0x0614-
0x0616
PMAC Addr.
$D0AC $D0CB $D0EA $D109 $D128 $D147 $D166 $D185
Source Addr.
Y:$0817 Y:$08D7 Y:$0997 Y:$0A57 Y:$0B17
Y:$0BD7
Y:$0C97 Y:$0D57
Coordinate System Program Execution Status (32 bits; low 24 bits used) (Second word returned
on ?? command)
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02B4-
0x02B6
0x0330-
0x0332
0x03AC-
0x03AE
0x0428-
0x042A
0x04A4-
0x04A6
0x0520-
0x0522
0x059C-
0x059E
0x0618-
0x061A
PMAC Addr.
$D0AD $D0CC $D0EB $D10A $D129 $D148 $D167 $D186
Source Addr.
Y:$08AE Y:$096E Y:$0A2E Y$0AEE Y$0BAE Y:$0C6E Y:$0D2E Y$0DEE
Coordinate System Program Lines Remaining (32 bits) (Same value as PR command returns)
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02B8-
0x02BA
0x0334-
0x0336
0x03B0-
0x03B2
0x042C-
0x042E
0x04A8-
0x04AA
0x0524-
0x0526
0x05A0-
0x05A2
0x061C-
0x061E
PMAC Addr.
$D0AE $D0CD $D0EC $D10B $D12A $D149 $D168 $D187
Source Addr.
X:$0020 X:$005C X:$0098 X:$00D4 X:$0110 X:$014C X:$0188 X:$01C4
Coordinate System Time Remaining in move when I13 > 0 (2*msec)
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02BC-
0x02BE
0x0338-
0x033A
0x03B4-
0x03B6
0x0430-
0x0432
0x04AC-
0x04AE
0x0528-
0x052A
0x05A4-
0x05A6
0x0620-
0x0622
PMAC Addr.
$D0AF $D0CE $D0ED $D10C $D12B $D14A $D169 $D188
Coordinate System Time Remaining in accel/decel when I13 > 0 (2*msec)