Reference Manual

Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map 519
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x0094
0x00C4
0x00F4
0x0124
0x0154
0x0184
0x01B4
0x01E4
Address
$060025
$060031
$06003D
$060049
$060055
$060061
$06006D
$060079
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x0214
0x0244
0x0274
0x02A4
0x02D4
0x0304
0x0334
0x0364
Address
$060085
$060091
$06009D
$0600A9
$0600B5
$0600C1
$0600CD
$0600D9
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x0394
0x03C4
0x03F4
0x0424
0x0454
0x0484
0x04B4
0x04E4
Address
$0600E5
$0600F1
$0600FD
$060109
$060115
$060121
$06012D
$060139
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x0514
0x0544
0x0574
0x05A4
0x05D4
0x0604
0x0634
0x0664
Address
$060145
$060151
$06015B
$060169
$060175
$060181
$06018D
$060199
DP:$060xxx-$060xxx+1 Motor master position (1/[Ixx08*32] cts)
[from D:$8D, etc.]
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x009C
0x00CC
0x00FC
0x012C
0x015C
0x018C
0x01BC
0x01EC
Address
$060027
$060033
$06003F
$06004B
$060057
$060063
$06006F
$06007B
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x021C
0x024C
0x027C
0x02AC
0x02DC
0x030C
0x033C
0x036C
Address
$060087
$060093
$06009F
$0600AB
$0600B
7
$0600C3
$0600CF
$0600DB
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x039C
0x03CC
0x03FC
0x042C
0x045C
0x048C
0x04BC
0x04EC
Address
$0600E7
$0600F3
$0600FF
$06010B
$060117
$060123
$06012F
$06013B
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x051C
0x054C
0x057C
0x05AC
0x05DC
0x060C
0x063C
0x066C
Address
$060147
$060153
$06015F
$06016B
$060177
$060183
$06018F
$06019B
DP:$060xxx-$060xxx+1 Motor net actual position (1/[Ixx08*32] cts)
(=ActPos+BiasPos+CompPos-MasterPos*OffsetModeBit)
[from D:$8B + D:$CC + D:$90 – D:$8D*X:$B0.5, etc.]
Background Data Reporting Buffer Control (used if I49 = 1 or I57 = 1)
Y:$06019D Background data reporting control
(0x0674) Bits 0-4 Number of coordinate systems to report
X:$06019D Background data reporting control
(0x0676) Bit 15 0 = Host ready; 1 = Host accessing buffer