User's Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau PMAC2 PCI

PMAC Dual-Ported RAM User Manual

Dual-Ported RAM Automatic Functions 15

Global Registers for Servo Fixed Data Reporting Buffer

Address Description

(0x0024)

Y:$D009

Host Status to PMAC:

Bit 0 = 1 is Host-Busy, reading buffer; = 0 is not busy

Bits 1-15 (reserved for future use)

(0x0026)

X:$D009

PMAC Status to Host:

Bits 0-14 Servo Timer

Bit 15 = 1 is PMAC-Busy updating buffer; = 0 is not busy

(0x0028,A)

$D00A

Global Status Bits (from Y:$0003)

Low 24 Bits (First word returned on? command)

(0x002C,E)

$D00B

Global Status Bits (from X:$0003)

Low 24 bits (Second word returned on? command)

(0x0030-46)

$D00C-11

Spare Global Var.

Motor-Specific Registers for Servo Fixed Data Reporting Buffer:

Motor Commanded Position (64 bits; 1/(Ix08*32) counts)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0048-

0x004E

0x0084-

0x008A

0x00C0-

0x00C6

0x00FC-

0x0102

0x0138-

0x013E

0x0174-

0x017A

0x01B0-

0x01B6

0x01EC-

0x01F2

PMAC Address

$D012-

$D013

$D021-

$D022

$D030-

$D031

$D03F-

$D040

$D04E-

$D04F

$D05D-

$D05E

$D06C-

$D06D

$D07B-

$D07C

Source Address

$0028 $0064 $00A0 $00DC $0118 $0154 $0190 $01CC

Motor Actual Position (64 bits; 1/(Ix08*32) counts)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0050-

0x0056

0x008C-

0x0092

0x00C8-

0x00CE

0x0104-

0x010A

0x0140-

0x0146

0x017C-

0x0182

0x01B8-

0x01BE

0x01F4-

0x01FA

PMAC Address

$D014-

$D015

$D023-

$D024

$D032-

$D033

$D041-

$D042

$D050-

$D051

$D05F-

$D060

$D06E-

$D06F

$D07D-

$D07E

Source Address

$002B $0067 $00A3 $00DF $011B $0157 $0193 $01CF

Motor Master Position (64 bits; 1/(Ix07*32) counts of the master; 1/(Ix08*32) motor counts)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0058-

0x005E

0x0094-

0x009A

0x00D0-

0x00D6

0x010C-

0x0112

0x0148-

0x014E

0x0184-

0x018A

0x01C0-

0x01C6

0x01FC-

0x0202

PMAC Address

$D016-

$D017

$D025-

$D026

$D034-

$D035

$D043-

$D044

$D052-

$D053

$D061-

$D062

$D070-

$D071

$D07F-

$D080

Source Address.

$002D $0069 $00A5 $00E1 $011D $0159 $0195 $01D1

Motor Compensation Position (64 bits; 1/(Ix08*32) counts)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0060-

0x0066

0x009C-

0x00A2

0x00D8-

0x00DE

0x0114-

0x011A

0x0150-

0x0156

0x018C-

0x0192

0x01C8-

0x01CE

0x0204-

0x020A

PMAC Address

$D018-

$D019

$D027-

$D028

$D036-

$D037

$D045-

$D046

$D054-

$D055

$D063-

$D064

$D072-

$D073

$D081-

$D082

Source Address.

$0046 $0082 $00BE $00FA $0136 $0172 $01AE $01EA