User's Manual

PMAC Dual-Ported RAM User Manual
Dual-Ported RAM Automatic Functions 21
Coordinate System Time Remaining in move when I13 > 0 (2*msec)
Motor/C.S. # 1 2 3 4 5 6 7 8
Host Address
0x02B8-
0x02BA
0x0334-
0x0336
0x03B0-
0x03B2
0x042C-
0x042E
0x04A8-
0x04AA
0x0524-
0x0526
0x05A0-
0x05A2
0x061C-
0x061E
PMAC Address
$D0AE $D0CD $D0EC $D10B $D12A $D149 $D168 $D187
Source Address
X:$0020 X:$005C X:$0098 X:$00D4 X:$0110 X:$014C X:$0188 X:$01C4
Coordinate System Time Remaining in accel/decel when I13 > 0 (2*msec)
Motor/C.S. # 1 2 3 4 5 6 7 8
Host Address
0x02BC-
0x02BE
0x0338-
0x033A
0x03B4-
0x03B6
0x0430-
0x0432
0x04AC-
0x04AE
0x0528-
0x052A
0x05A4-
0x05A6
0x0620-
0x0622
PMAC Address
$D0AF $D0CE $D0ED $D10C $D12B $D14A $D169 $D188
Coordinate System Program Execution Address Offset
(Same value as PE command returns)
Motor/C.S. # 1 2 3 4 5 6 7 8
Host Address
0x02C0-
0x02C2
0x033C-
0x033E
0x03B8-
0x03BA
0x0434-
0x0436
0x04B0-
0x04B2
0x052C-
0x052E
0x05A8-
0x05AA
0x0624-
0x0626
PMAC Address
$D0B0 $D0CF $D0EE $D10D $D12C $D14B $D16A $D189
Motor Averaged Actual Velocity (1/[Ix09*32] counts per servo cycle)
Motor/C.S. # 1 2 3 4 5 6 7 8
Host Address
0x02C4-
0x02C6
0x0340
0x0342
0x03BC-
0x03BE
0x0438-
0x043A
0x04B4-
0x04B6
0x0530-
0x0532
0x05AC-
0x05AE
0x0628-
0x062A
PMAC Address
$D0B1 $D0D0 $D0EF $D10E $D12D $D14C $D16B $D18A
Source Address
Y:$082A Y:$08EA Y$09AA Y$0A6A Y$0B2A Y$0BEA Y$0CAA Y$0D6A
* Note 1: The following is the logic used in the PMAC to determine which variable will be put in this slot.
It is controlled by bits of the coordinate system program execution status word (PSTATUS):
If (PSTATUS.7 == 1 && PSTATUS.5 == 0)
Use Source A
Else
If (PSTATUS.9 == 1)
Use Source B
Else
Use Source C
Endif
Endif
PSTATUS.7 is the Segmented move flag (I13 != 0 )
PSTATUS.5 is the Segmented move stop flag
PSTATUS.9 is the Tool Compensation flag
Background Variable Data Read Buffer
The Background Variable Data Read Buffer allows the user to have up to 128 user-specified PMAC
registers copied into DPRAM during the background cycle. This function is controlled by I55. The buffer
has two modes of operation, single user and multi-user. The default mode is the single user mode. It is
active when bit 8 of the control word (Y:$D1FA) is set to zero. Multi-user mode is active when bit 8 of
the control word (Y:$D1FA) is set to one.