Reference Manual

PMAC 2 Software Reference
78 PMAC I-Variable Specifiation
Ix25 Motor x Limit/Home Flag
Range
Extended legal PMAC X addresses
Units
Extended legal PMAC X addresses
Default
Variable PMAC(1) PMAC2 PMAC2 Ultralite
I125 $C000 $C000 $40F70
I225 $C004 $C008 $40F71
I325 $C008 $C010 $40F74
I425 $C00C $C018 $40F75
I525 $C010 $C020 $40F78
I625 $C014 $C028 $40F79
I725 $C018 $C030 $40F7C
I825 $C01C $C038 $40F7D
Remarks
This parameter tells PMAC what set of flags it will look to for Motor x’s overtravel limit
switches, home flag, amplifier-fault flag, amplifier-enable output, and index channel.
Typically, these are the flags associated with an encoder input; specifically, those of the
position feedback encoder for the motor. If dual-loop feedback is used (Ix03 and Ix04 are
different) Ix25 should be set to match the position-loop encoder, not the velocity-loop.
Note:
To use PMAC’s Hardware Position Capture for homing search
moves, the channel number of the flags specified by Ix25 must
match the channel number of the encoder specified by Ix03 for
position-loop feedback.
The addresses for the flag sets in PMAC(1) and PMAC2 systems are given in the tables
below. Channel3s 9 – 16 are present on ACC-24 axis-expansion boards, not on the
PMACs themselves.
PMAC(1)
Channel Address Channel Address
1 $C000 9 $C020
2 $C004 10 $C024
3 $C008 11 $C028
4 $C00C 12 $C02C
5 $C010 13 $C030
6 $C014 14 $C034
7 $C018 15 $C038
8 $C01C 16 $C03C
PMAC2
Channel Address Channel Address
1 $C000 9 $C040
2 $C008 10 $C048
3 $C010 11 $C050
4 $C018 12 $C058
5 $C020 13 $C060
6 $C028 14 $C068
7 $C030 15 $C070
8 $C038 16 $C078