Delta Tau GEO BRICK LV Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Memory and I/O Map

533

PMAC2-Style Servo ASIC Registers

Note:

For addressing of alternate Servo ICs n* on the UBUS expansion port, add $20 to
the addresses for Servo IC ‘n’ shown in these tables.

IC# - Chan#

0-1

0-2

0-3

0-4

1-1

1-2

1-3

1-4

Board -

Chan#

PMAC2-1

PMAC2-2

PMAC2-3

PMAC2-4

PMAC2-5

PMAC2-6

PMAC2-7

PMAC2-8

Address

$078000

$078008

$078010

$078018

$078100

$078108

$078110

$078118

IC# - Chan#

2-1

2-2

2-3

2-4

3-1

3-2

3-3

3-4

Board -

Chan#

24P/V/E2

#1 - 1

24P/V/E2 #1

- 2

24P/V/E2

#1 - 3

24P/V/E2

#1 - 4

24P/V/E2

#1 - 5

24P/V/E2

#1 - 6

24P/V/E2

#1 - 7

24P/V/E2

#1 - 8

Address

$078200

$078208

$078210

$078218

$078300

$078308

$078310

$078318

IC# - Chan#

4-1

4-2

4-3

4-4

5-1

5-2

5-3

5-4

Board -

Chan#

24P/V/E2

#2 - 1

24P/V/E2

#2 - 2

24P/V/E2

#2 - 3

24P/V/E2

#2 - 4

24P/V/E2

#2 - 5

24P/V/E2

#2 - 6

24P/V/E2

#2 - 7

24P/V/E2

#2 - 8

Address

$079200

$079208

$079210

$079218

$079300

$079308

$079310

$079318

IC# - Chan#

6-1

6-2

6-3

6-4

7-1

7-2

7-3

7-4

Board -

Chan#

24P/V/E2

#3 - 1

24P/V/E2

#3 - 2

24P/V/E2

#3 - 3

24P/V/E2

#3 - 4

24P/V/E2

#3 - 5

24P/V/E2

#3 - 6

24P/V/E2

#3 - 7

24P/V/E2

#3 - 8

Address

$07A200

$07A208

$07A210

$07A218

$07A300

$07A308

$07A310

$07A318

IC# - Chan#

8-1

8-2

8-3

8-4

9-1

9-2

9-3

9-4

Board -

Chan#

24P/V/E2

#4 - 1

24P/V/E2

#4 - 2

24P/V/E2

#4 - 3

24P/V/E2

#4 - 4

24P/V/E2

#4 - 5

24P/V/E2

#4 - 6

24P/V/E2

#4 - 7

24P/V/E2

#4 - 8

Address

$07B200

$07B208

$07B210

$07B218

$07B300

$07B308

$07B310

$07B318

Y:$07x0xx . Channel n Time between last two encoder counts (SCLK cycles)

Bits: 0-22: Timer (units of SCLK cycles)

23:

Change-of-direction flag

Alternate use if Channel Control Word bit 18 set to 1 (Rev “D” or newer IC only):

Channel n Timer-Based Fractional Count Data (unsigned)

Bits:

0-11

Compare “A” fractional count (bit 11 = ½-count; bit 10 = ¼-count; etc.)

12-23 Servo-captured fractional count (bit 23 = ½-count; bit 22 = ¼-count; etc.)

X:$07xx0x Channel n Status Word

Bits:

0-2

Capture Hall Effect Device State

Invalid demultiplex of C, U, V, & W

4-7

Reserved for future use (reports as 0)

Encoder Count Error (0 on counter reset, 1 on illegal transition)

Position Compare (EQUn) output value

Position-Captured-On-Gated-Index Flag

(=0 on read of captured position register, =1 on trigger capture)

Position-Captured Flag (on any trigger)

(=0 on read of captured position register, =1 on trigger capture)

Encoder Channel A (CHAn) Input Value

Encoder Channel B (CHBn) Input Value

Encoder Channel C (Index, CHCn) Input Value (ungated)

Amplifier Fault (FAULTn) Input Value

Home Flag (HMFLn) Input Value

Positive End Limit (PLIMn) Input Value