Reference Manual
PMAC 2 Software Reference
442 PMAC I/0 and Memory Map
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02C0-
0x02C2
0x033C-
0x033E
0x03B8-
0x03BA
0x0434-
0x0436
0x04B0-
0x04B2
0x052C-
0x052E
0x05A8-
0x05AA
0x0624-
0x0626
PMAC Addr.
$D0B0 $D0CF $D0EE $D10D $D12C $D14B $D16A $D189
Coordinate System Program Execution Address Offset (Same value as PE command returns)
Motor/C.S. #
1 2 3 4 5 6 7 8
Host Address
0x02C4-
0x02C6
0x0340
0x0342
0x03BC-
0x03BE
0x0438-
0x043A
0x04B4-
0x04B6
0x0530-
0x0532
0x05AC-
0x05AE
0x0628-
0x062A
PMAC Addr.
$D0B1 $D0D0 $D0EF $D10E $D12D $D14C $D16B $D18A
Source Addr.
Y:$082A Y:$08EA Y$09AA Y$0A6A Y$0B2A Y$0BEA Y$0CAA Y$0D6
Motor Averaged Actual Velocity (1/[Ix09*32] counts per servo cycle)
Background Variable Transfer Buffers
PMAC to Host Transfer
Address Description
0x07E8
(Y:$D1FA)
PMAC to HOST (Bit 0 = 1 for single user mode) Data Ready.
PMAC done updating buffer - Host must clear for more data.
0x07EA
X:$D1FA
Servo Timer (Updated at Data Ready Time)
0x07EC
(Y:$D1FB)
Size of Address Buffer (measured in long integers of 32 bits each)
0x07EE
(X:$D1FB)
Start of Address Buffer (Ex. $D400; must be $D200 to $DFFD)
Variable Address Buffer Format (2x16-bit words)
X:Mem
Bits 15: Data Ready
(multi-user mode)
X:Mem
Bits 0 - 2:
Variable type to read
Y:Mem
Variable address
Dual Port
Data
Length
1 = PMAC data ready
0 = Host request data
0 = PMAC Var. Y:Mem. PMAC Address of Variable 32 bits
1 = PMAC data ready
0 = Host request data
1 = PMAC Var. Long PMAC Address of Variable 64 bits
1 = PMAC data ready
0 = Host request data
2 = PMAC Var. X:Mem. PMAC Address of Variable 32 bits
1 = PMAC data ready
0 = Host request data
4 = Special (Firmware 1.16)
PLCC Function Block
PLCC Function Block Number.
Y:$9FFF has the base address
of the function blocks.
64 bits
Background Variable Data Write Buffer -- Host to PMAC Transfer
Address Description
0x07E6
(Y:$D1F5)
HOST to PMAC Data Transferred. PMAC is updated when cleared.
Host must set for another update.
0x07E8
X:$D1F5
Starting address of data structure ($D240 - $DFFD).