User's Manual

PMAC2 User Manual
86 PMAC2 General Purpose I/O Use
Motor variables Ix03 and Ix04 should contain the addresses of these resulting values to use the ADC
values for position- and velocity-loop feedback, respectively.
Absolute Power-On Position
PMAC2 can use these ADC inputs for absolute power-on position using the Ix10 variable. Ix10 is told to
read the image register for the analog input as a 12-bit parallel input.
Bits 0-15 contain the address of the image register; bits 16-21 contain the value of 12 decimal (0C hex) to
specify the width; bit 22 is 0 to specify a Y-register in the case of ANAI00-07, or 1 to specify an X-
register in the case of ANAI08-15.
The following table shows the values of Ix10 to be used for each input.
Input Ix10 Value Input Ix10 Value
ANAI00 $0C0708 ANAI08 $4C0708
ANAI01 $0C0709 ANAI09 $4C0709
ANAI02 $0C070A ANAI10 $4C070A
ANAI03 $0C070B ANAI11 $4C070B
ANAI04 $0C0708 ANAI12 $4C070C
ANAI05 $0C0709 ANAI13 $4C070D
ANAI06 $0C070A ANAI14 $4C070E
ANAI07 $0C070B ANAI15 $4C070F