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Ixx02 instructs Turbo PMAC where to place its output command values for Motor xx by specifying the 
address of the register (or the first register if multiple outputs are used).  The default values of Ixx02 use 
the output registers for the machine interface channel usually assigned to the motor, or command registers 
(starting with Register 0) for the MACRO node usually assigned to the motor.  The exact setting is 
dependent on the mode used, and is covered in the section for each mode of control. 

Ixx03 specifies the address of the register Turbo PMAC reads for the ongoing position-loop feedback for 
the motor.  This is the address of a processed feedback data register in the encoder conversion table.  With 
the default conversion table, the default values of Ixx03 specify the processed data for the encoder whose 
channel matches the motor; these values are suitable for most applications, regardless of the command 
output mode.  Refer to the Encoder Conversion Table section in this manual for more information. 

Ixx04 specifies the address of the register Turbo PMAC reads for the velocity-loop feedback for the 
motor.  It works just like Ixx03, and contains the same address as Ixx03 unless dual feedback is used for 
the motor. 

Ixx25, and possibly Ixx42 and Ixx43, specify the addresses of the registers Turbo PMAC uses for its flag 
information for Motor xx.  The flags come in three sets:  
1.  The capture input flags (including the encoder index), used for trigger moves such as homing search 

moves  

2.  The amplifier flags (enable output and fault input), used to handshake with the drive 
3.  The overtravel limit input flags, used to enforce the position range of the motor 
If Ixx42 and Ixx43 are set to the default value of 0, Ixx25 sets the address of all three sets of flags.  This is 
the typical case, and the only one permitted in firmware revisions 1.939 and earlier (through 2002).  
However, starting with firmware revision 1.940, new variables Ixx42 and Ixx43 permit the splitting of the 
sets of flags.  This is particularly useful when triggering from an Acc-51 encoder interpolator board, or 
when using the MACRO ring for feedback and/or triggering but not the amplifier interface. 
If Ixx42 is set to a non-zero value, it specifies the address of the amplifier flags alone.  If Ixx43 is set to a 
non-zero value, it specifies the address of the overtravel limit flags alone.  Ixx25 always specifies the 
address of the capture flags. 
The following table shows the possible addresses for these variables when the flags are accessed through 
PMAC-style Servo ICs. 
PMAC-Style Servo IC Flag Addresses 

IC# - Chan# 

0 - 1 

0 - 2 

0 - 3 

0 - 4 

1 - 1 

1 - 2 

1 - 3 

1 - 4 

Ixx25/42/43 

IC# - Chan# 

2 - 1 

2 - 2 

2 - 3 

2 - 4 

3 - 1 

3 - 2 

3 - 3 

3 - 4 

Ixx25/42/43 

IC# - Chan# 

4 - 1 

4 - 2 

4 - 3 

4 - 4 

5 - 1 

5 - 2 

5 - 3 

5 - 4 

Ixx25/42/43 

IC# - Chan# 

6 - 1 

6 - 2 

6 - 3 

6 - 4 

7 - 1 

7 - 2 

7 - 3 

7 - 4 

Ixx25/42/43 

IC# - Chan# 

8 - 1 

8 - 2 

8 - 3 

8 - 4 

9 - 1 

9 - 2 

9 - 3 

9 - 4 

Ixx25/42/43 

Servo ICs 0 and 1 are on the Turbo PMAC itself. 
Servo ICs 2 – 9 are on Acc-24P/V or Acc-51P boards. 

Channels 1 – 4 on odd-numbered Servo ICs are Channels 5 – 8 on the boards.