Delta Tau GEO BRICK LV Guide D’Exploitation
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
516
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x0074
0x00A4
0x00D4
0x0104
0x0134
0x0164
0x0194
0x01C4
Address
$06001D
$060029
$060035
$060041
$06004D
$060059
$060065
$060071
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x01F4
0x0224
0x0254
0x0284
0x02B4
0x02E4
0x0314
0x0344
Address
$06007D
$060089
$060095
$0600A1
$0600AD
$0600B9
$0600C5
$0600D1
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x0374
0x03A4
0x03D4
0x0404
0x0434
0x0464
0x0494
0x04C4
Address
$0600DD
$0600E9
$0600F5
$060101
$06010D
$060119
$060125
$060131
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x04F4
0x0524
0x0554
0x0584
0x05B4
0x05E4
0x0614
0x0644
Address
$06013D
$060149
$060155
$060161
$06016D
$060179
$060185
$060191
DP:$060xxx-$060xxx+1 Motor following error (1/[Ixx08*32] cts)
(=CmdPos+MasterPos-CompPos-ActPos)
[from D:$88 + D:$8D + D:$90 – D:$8B, etc.]
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x007C
0x00AC
0x00DC
0x010C
0x013C
0x016C
0x019C
0x01CC
Address
$06001F
$06002B
$060037
$060043
$06004F
$06005B
$060067
$060073
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x01FC
0x022C
0x025C
0x028C
0x02BC
0x02EC
0x031C
0x034C
Address
$06007F
$06008B
$060097
$0600A3
$0600AF $0600BB $0600C7
$0600D3
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x037C
0x03AC
0x03DC
0x040C
0x043C
0x046C
0x049C
0x04CC
Address
$0600DF $0600EB
$0600F7
$060103
$06010F
$06011B
$060127
$060133
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x04FC
0x052C
0x055C
0x058C
0x05BC
0x05EC
0x061C
0x064C
Address
$06013F
$06014B
$060157
$060163
$06016F
$06017B
$060187
$060193
DP:$060xxx
Motor servo command (upper 16 bits have units of 16-bit DAC)
[from X:$BF, etc.]