User's Manual

ManualsBrandsDelta Tau ManualsControllersDelta Tau PMAC2 PCI

PMAC Dual-Ported RAM User Manual

18 Dual-Ported RAM Automatic Functions

Motor/Coordinate System Specific Registers for Background Fixed Data Buffer

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

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

Host Address

0x024C-

0x0252

0x02C8-

0x02CE

0x0344-

0x034A

0x03C0-

0x03C6

0x043C-

0x0442

0x04B8-

0x04BE

0x0534-

0x053A

0x05B0-

0x05B6

PMAC Address

$D093-

$D094

$D0B2-

$D0B3

$D0D1-

$D0D2

$D0F0-

$D0F1

$D10F-

$D110

$D12E-

$D12F

$D14D-

$D14E

$D16C-

$D16D

Source Address

$080B $08CB $098B $0A4B $0B0B $0BCB $0C8B $0D4B

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

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

Host Address

0x0254-

0x025A

0x02D0-

0x02D6

0x034C-

0x0352

0x03C8-

0x03CE

0x0444-

0x044A

0x04C0-

0x04C6

0x053C-

0x0542

0x05B8-

0x05BE

PMAC Address

$D095-

$D096

$D0B4-

$D0B5

$D0D3-

$D0D4

$D0F2-

$D0F3

$D111-

$D112

$D130-

$D131

$D14F-

$D150

$D16E-

$D16F

Source Address

$0813 $08D3 $0993 $0A53 $0B13 $0BD3 $0C93 $0D53

Motor Status Word (32 bits; low 24 bits used) 2nd word returned on ? command

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

Host Address

0x025C-

0x025E

0x02D8-

0x02DA

0x0354-

0x0356

0x03D0-

0x03D2

0x044C-

0x044E

0x04C8-

0x04CA

0x0544-

0x0546

0x05C0

0x05C2

PMAC Address

$D097 $D0B6 $D0D5 $D0F4 $D113 $D132 $D151 $D170

Source Address

Y:$0814 Y:$08D4 Y:$0994 Y:$0A54 Y:$0B14

Y:$0BD4

Y:$0C94 Y:$0D54

Coordinate System Status/Definition Word (low 32 bits contains Motor Definition Word;

high 32 bits contain first word returned on ?? command)

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

Host Address

0x0260-

0x0266

0x02DC-

0x02E2

0x0358-

0x035E

0x03D4-

0x03DA

0x0450-

0x0456

0x04CC-

0x04D2

0x0548-

0x054E

0x05C4-

0x05CA

PMAC Address

$D098-

$D099

$D0B7-

$D0B8

$D0D6-

$D0D7

$D0F5-

$D0F6

$D114-

$D115

$D133-

$D134

$D152-

$D153

$D171-

$D172

Source Address

$0818 $08D8 $0998 $0A58 $0B18 $0BD8 $0C98 $0D58

Coordinate System A-Axis Target Position (User Units) (* Note 1)

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

Host Address

0x0268-

0x026E

0x02E4-

0x02EA

0x0360-

0x0366

0x03DC-

0x03E2

0x0458-

0x045E

0x04D4-

0x04DA

0x0550-

0x0556

0x05CC-

0x05D2

PMAC Address

$D09A-

$D09B

$D0B9-

$D0BA

$D0D8-

$D0D9

$D0F7-

$D0F8

$D116-

$D117

$D135-

$D136

$D154-

$D155

$D173-

$D174

Source A

$0876 $0936 $09F6 $0AB6 $0B76 $0C36 $0CF6 $0DB6

Source B

$0896 $0956 $0A16 $0AD6 $0B96 $0C56 $0D16 $0DD6

Source C

$0819 $08D9 $0999 $0A59 $0B19 $0BD9 $0C99 $0D59