User's Manual

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PMAC Dual-Ported RAM User Manual

16 Dual-Ported RAM Automatic Functions

Motor Previous DAC (32 bits; 1/256 DAC bits)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0068-

0x006A

0x00A4-

0x00A6

0x00E0-

0x00E2

0x011C-

0x011E

0x0158-

0x015A

0x0194-

0x0196

0x01D0-

0x01D2

0x020C-

0x020E

PMAC Address

$D01A $D029 $D038 $D047 $D056 $D065 $D074 $D083

Source Address

X:$003A X:$0076 X:$00B2 X:$00EE X:$012A X:$0166 X:$01A2 X:$01DE

Motor Servo Status (32 bits; low 24 bits used) 1st word returned on ? command

Motor/C.S. # 1 2 3 4 5 6 7 8

Host Address

0x006C-

0x006E

0x00A8-

0x00AA

0x00E4-

0x00E6

0x0120-

0x0122

0x015C-

0x015E

0x0198-

0x019A

0x01D4-

0x01D6

0x0210-

0x0212

PMAC Address

$D01B $D02A $D039 $D048 $D057 $D066 $D075 $D084

Source Address

X:$003D X:$0079 X:$00B5 X:$00F1 X:$012D X:$0169 X:$01A5 X:$01E1

Motor Actual Velocity (1/(Ix09*32) counts per servo cycle)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0070

0x0072

0x00AC-

0x00AE

0x00E8-

0x00EA

0x0124-

0x0126

0x0160-

0x0162

0x019C-

0x019E

0x01D8-

0x01DA

0x0214-

0x0216

PMAC Address

$D01C $D02B $D03A $D049 $D058 $D067 $D076 $D085

Source Address

X:$0033 X:$006F

X:$00AB

X:$00E7 X:$0123 X:$015F X:$019B X:$01D7

Time Left in Move Segment (2*msec)

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0074-

0x0076

0x00B0-

0x00B2

0x00EC-

0x00EE

0x0128-

0x012A

0x0164-

0x0166

0x01A0-

0x01A2

0x01DC

0x01DE

0x0218-

0x021A

PMAC Address

$D01D $D02C $D03B $D04A $D059 $D068 $D077 $D086

Source Address

X:$0020 X:$005C X:$0098 X:$00D4 X:$0110 X:$014C X:$0188 X:$01C4

Handwheel Pointer

Motor # 1 2 3 4 5 6 7 8

Host Address

0x0078-

0x007A

0x00B4-

0x00B6

0x00F0-

0x00F2

0x012C-

0x012E

0x0168-

0x016A

0x01A4-

0x01A6

0x01E0

0x01E2

0x021C-

0x021E

PMAC Address

$D01E $D02D $D03C $D04B $D05A $D069 $D078 $D087

Source Address

X:$0029 X:$0065 X:$00A1 X:$00DD X:$0119 X:$0155 X:$0191 X:$01CD

Spare Registers

Motor # 1 2 3 4 5 6 7 8

Host Address

0x007C-

0x0082

0x00B8-

0x00BE

0x00F4-

0x00FA

0x0130-

0x0136

0x016C-

0x0172

0x01A8-

0x01AE

0x01E4-

0x01EA

0x0220-

0x0226

PMAC Address

$D01F-

$D020

$D02E-

$D02F

$D03D-

$D03E

$D04C-

$D04D

$D05B-

$D05C

$D06A-

$D06B

$D079-

$D07A

$D088-

$D089