Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
529
PMAC-Style Servo ASIC Registers
IC# - Chan#
0-1
0-2
0-3
0-4
1-1
1-2
1-3
1-4
Board -
Chan#
PMAC - 1
PMAC - 2
PMAC - 3
PMAC - 4
PMAC - 5
PMAC - 6
PMAC - 7
PMAC - 8
Address
$078000
$078004
$078008
$07800C
$078100
$078104
$078108
$07810C
IC# - Chan#
2-1
2-2
2-3
2-4
3-1
3-2
3-3
3-4
Board -
Chan#
24P/V
#1 - 1
24P/V
#1 - 2
24P/V
#1 - 3
24P/V
#1 - 4
24P/V
#1 - 5
24P/V
#1 - 6
24P/V
#1 - 7
24P/V
#1 - 8
Address
$078200
$078204
$078208
$07820C
$078300
$078304
$078308
$07830C
IC# - Chan#
4-1
4-2
4-3
4-4
5-1
5-2
5-3
5-4
Board -
Chan#
24P/V
#2 - 1
24P/V
#2 - 2
24P/V
#2 - 3
24P/V
#2 - 4
24P/V
#2 - 5
24P/V
#2 - 6
24P/V
#2 - 7
24P/V
#2 - 8
Address
$079200
$079204
$079208
$07920C
$079300
$079304
$079308
$07930C
IC# - Chan#
6-1
6-2
6-3
6-4
7-1
7-2
7-3
7-4
Board -
Chan#
24P/V
#3 - 1
24P/V
#3 - 2
24P/V
#3 - 3
24P/V
#3 - 4
24P/V
#3 - 5
24P/V
#3 - 6
24P/V
#3 - 7
24P/V
#3 - 8
Address
$07A200
$07A204
$07A208
$07A20C
$07A300
$07A304
$07A308
$07A30C
IC# - Chan#
8-1
8-2
8-3
8-4
9-1
9-2
9-3
9-4
Board -
Chan#
24P/V
#4 - 1
24P/V
#4 - 2
24P/V
#4 - 3
24P/V
#4 - 4
24P/V
#4 - 5
24P/V
#4 - 6
24P/V
#4 - 7
24P/V
#4 - 8
Address
$07B200
$07B204
$07B208
$07B20C
$07B300
$07B304
$07B308
$07B30C
Y:$07xx0x
Channel n Time between last two encoder counts (SCLK cycles)
X:$07xx0x
Channel n Status Word
(Bits 0-15: control; Bits 16-23: status)
0-3
Decode control (I7mn0)
4-6
Reserved for future use (reports as 0)
7
Encoder loss (from T,U,V,W) (latched to 1 on loss, cleared by writing 0)
8-9
Flag select control (I7mn3)
10
Count write enable
11
Compare equal flag latch control
12
Compare-equal output enable
13
EQU output invert enable
14
OUT value (AENAn)
15
Digital delay filter disable (I7mn1)
16
Compare-equal flag
17
Position-captured flag
18
Count error flag
19
Encoder C Channel Status
20
Flag 1 Status (HMFLn)
21
Flag 2 Status (-LIMn)
22
Flag 3 Status (+LIMn)
23
Flag 4 Status (FAULTn)