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Turbo PMAC/PMAC2 Software Reference

UMAC Turbo Suggested M-Variable Definitions

677

Acc-5E JTHW Thumbwheel Multiplexer Port M-Variables

M40->Y:$078402,8

; SEL0 Line; J2 Pin 4

M41->Y:$078402,9

; SEL1 Line; J2 Pin 6

M42->Y:$078402,10

; SEL2 Line; J2 Pin 8

M43->Y:$078402,11

; SEL3 Line; J2 Pin 10

M44->Y:$078402,12

; SEL4 Line; J2 Pin 12

M45->Y:$078402,13

; SEL5 Line; J2 Pin 14

M46->Y:$078402,14

; SEL6 Line; J2 Pin 16

M47->Y:$078402,15

; SEL7 Line; J2 Pin 18

M48->Y:$078402,8,8,U

; SEL0-7 Lines treated as a byte

M50->Y:$078402,0

; DAT0 Line; J2 Pin 3

M51->Y:$078402,1

; DAT1 Line; J2 Pin 5

M52->Y:$078402,2

; DAT2 Line; J2 Pin 7

M53->Y:$078402,3

; DAT3 Line; J2 Pin 9

M54->Y:$078402,4

; DAT4 Line; J2 Pin 11

M55->Y:$078402,5

; DAT5 Line; J2 Pin 13

M56->Y:$078402,6

; DAT6 Line; J2 Pin 15

M57->Y:$078402,7

; DAT7 Line; J2 Pin 17

M58->Y:$078402,0,8,U

; DAT0-7 Lines treated as a byte

M60->X:$078402,0,8

; Direction control for DAT0 to DAT7

M62->X:$078402,8,8

; Direction control for SEL0 to SEL7

Miscellaneous Global Registers

M70->X:$FFFF8C,0,24

; Time between phase interrupts (CPU cycles/2)

M71->X:$000037,0,24

; Time for phase tasks (CPU cycles/2)

M72->Y:$000037,0,24

; Time for servo tasks (CPU cycles/2)

M73->X:$00000B,0,24

; Time for RTI tasks (CPU cycles/2)

M80->X:$000025,0,24

; Minimum watchdog timer count

M81->X:$000024,0,24

; Pointer to display buffer

M82->Y:$001080,0,8

; First character of display buffer

M83->X:$000006,12,1

; Firmware checksum error bit

M84->X:$000006,13,1

; Any memory checksum error bit

M85->X:$000006,5,1

; MACRO auxiliary communications error bit

M86->X:$000006,6,1

; Acc-34 serial parity error bit

DPRAM Active Setup Registers

M93->X:$070009,0,8

; PC/104 Active DPRAM Base Address bits A23-A16 (Bits 0-7 from I93)

M94->X:$07000A,0,8

; PC/104 Active DPRAM Base Address bits A15-A14, Enable &

; Bank Select (Bits 0-7 from I94)

Servo Cycle Counter (Read Only) -- counts up once per servo cycle

M100->X:$000000,0,24,S

; 24-bit servo cycle counter

Servo IC 2 Channel 1 Registers (usually for Motor #1)

M101->X:$078201,0,24,S

; ENC1 24-bit counter position

M102->Y:$078202,8,16,S

; OUT1A command value; DAC or PWM

M103->X:$078203,0,24,S

; ENC1 captured position

M104->Y:$078203,8,16,S

; OUT1B command value; DAC or PWM

M105->Y:$078205,8,16,S

; ADC1A input value

M106->Y:$078206,8,16,S

; ADC1B input value

M107->Y:$078204,8,16,S

; OUT1C command value; PFM or PWM

M108->Y:$078207,0,24,S

; ENC1 compare A position

M109->X:$078207,0,24,S

; ENC1 compare B position

M110->X:$078206,0,24,S

; ENC1 compare autoincrement value

M111->X:$078205,11

; ENC1 compare initial state write enable