Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
509
23
PLC execution error
Y:$003100
PLC 0 buffer storage pointer
Bits
0 – 18 PLC base address
22
PLC disabled
23
PLC open
X:$003101 - $00311F
PLC 1 - 31 execution address
Y:$003101 - $00311F
PLC 1 - 31 storage pointer
X:$003120
Data gather buffer start address
Y:$003120
Data gather buffer storage address
X:$003121 - $003130
Lookahead buffer 1 – 16 start address
Y:$003121 - $003130
Lookahead buffer 1 – 16 storage address
X:$003131 - $003140
Cutter comp buffer 1 – 16 start address
Y:$003131 - $003140
Cutter comp buffer 1 – 16 storage address
X:$003141 - $003150
Rotary buffer 1 – 16 start address
Y:$003141 - $003150
Rotary buffer 1 – 16 storage address
X:$003151
Transformation matrix buffer start address
Y:$003151
Transformation matrix buffer storage address
X:$003152 - $003171
Motor 1 – 32 backlash comp table start address
Y:$003152 - $003171
Motor 1 – 32 backlash comp table storage address
X:$003172 - $003191
Motor 1 – 32 torque comp table start address
Y:$003172 - $003191
Motor 1 – 32 torque comp table storage address
X:$003192 - $0031B1
Motor 1 – 32 leadscrew comp table start address
Y:$003192 - $0031B1
Motor 1 – 32 leadscrew comp table storage address
X:$0031B2
End of unreserved RAM address
X:$0031EE
MACRO auxiliary communications error number
$003300 - $0033FF
Background stack
Processed A/D Registers
Y:$003400 - $00341F
Processed A/D Table Registers (bits 12-23)
Y:$003400
Processed A/D value from I5061 address low ADC
X:$003400
Processed A/D value from I5061 address high ADC
Y:$003401
Processed A/D value from I5062 address low ADC
X:$003401
Processed A/D value from I5062 address high ADC
Y:$00341F
Processed A/D value from I5076 address low ADC
X:$00341F
Processed A/D value from I5076 address high ADC
Additional Coordinate System Registers
L:$003420 - $00342C
New desired axis coordinate positions ABCUVWXYZRIJK
L:$00342D - $003435
New desired axis coordinate velocities ABCUVWXYZ