Reference Manual

PMAC 2 Software Reference
PMAC I/0 and Memory Map 413
Y:$0805
Motor #1 soft following error (Ix12)
X:$0806 (2054)
C.S. 1 present timebase (units of I10 {1/8,388,608 msec})
X:$0807 (2055)
C.S. 1 desired timebase pointer (Ix93)
Y:$0807
C.S. 1 present timebase pointer
X:$0808 (2056)
C.S. 1 host command timebase [100% when = I10]
Y:$0808
C.S. 1 present timebase slew rate
X:$0809 (2057)
C.S. 1 feed-hold timebase slew rate (Ix95)
Y:$0809
C.S. 1 timebase slew rate (Ix94)
D:$080A (2058)
Motor #1 target velocity
D:$080B (2059)
Motor #1 target position (1/[Ix08*32] cts)
Mot/CS
1 2 3 4 5 6 7 8
Hex [$0810] [$08D0] [$0990] [$0A50] [$0B10] [$0BD0] [$0C90] [$0D50]
Decimal
2064 2256 2448 2640 2832 3024 3216 3408
X:$0810 (2064)
C.S. 1 move S-curve time
Y:$0810
C.S. 1 move accel time
L:$0811 (2065)
C.S. 1 move feedrate or time [flt. pt.]
L:$0812 (2066)
C.S. 1 feedrate time units (Ix90) [flt. pt.]
D:$0813 (2067)
Motor #1 position bias (1/[Ix08*32] cts)
X:$0814 (2068)
Motor #1 home offset position (Ix26)
Y:$0814
Motor #1 status bits
(Second word returned on ? command. See X:$003D for first word.)
(Refer to ? specification in On-line Commands for detailed description of bit meanings.)
Bits
0 In-position true
1 Warning following error limit exceeded
2 Fatal following error limit exceeded
3 Amplifier fault error
4 Backlash direction flag
5
I
2
T Amplifier fault error
6 Integrated fatal following error
7 Trigger move
8 Phasing search error
9 (Reserved for future use)
10 Home complete
11 Stopped on position limit
12-13 (Reserved for future use)
14 Amplifier enabled
15-19 (Reserved for future use)
20-22 Number of C.S. defined in (-1)
23 Assigned to C.S.
X:$0815 (2069)
Motor #1 phase finding torque and time (Ix73, Ix74)
Y:$0815
Motor #1 encoder home position offset (cts)
X:$0816 (2070)
C.S. 1 default program # (Ix91)
X:$0817 (2071)
C.S. 1 program execution address pointer
Y:$0817
C.S. 1 program execution status
(Second word returned on ?? command. See X:$0818 for first word.)
(Refer to ?? specification in On-Line Commands for detailed description of bit meanings.)
Bits
0 CIRCLE/SPLINE move mode
1 CCW circular move direction