Delta Tau GEO BRICK LV Manual De Referência
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
501
Y:$000xB7/37
Motor estimated rotor magnetization current
X:$000xB8/38
Motor commanded quadrature current (0 for microstep)
Y:$000xB8/38
Motor commanded direct current (0 for microstep)
X:$000xB9/39
Motor actual quadrature current
Y:$000xB9/39
Motor actual direct current
X:$000xBA/3A
Motor current-loop back path proportional gain (Ixx76)
Y:$000xBA/3A
Motor current-loop forward path proportional gain (Ixx62)
X:$000xBB/3B
Motor commutation table pointer
Y:$000xBB/3B
Motor current-loop integral gain (Ixx61)
X:$000xBC/3C
Motor quadrature current loop integrator output
Y:$000xBC/3C
Motor direct current loop integrator output
X:$000xBD/3D
Motor commutation table pointer offset (Ixx55)
Y:$000xBD/3D
Motor PWM scale factor (Ixx66)
X:$000xBE/3E
Motor command output address (Ixx02)
Y:$000xBE/3E
Motor delay compensation gain (Ixx56)
X:$000xBF/3F
Motor (Quadrature/torque) command value (includes bias)
Y:$000xBF/3F
Motor (Quadrature/torque) command bias (from TCOMP table)
Motor #
1
2
3
4
5
6
7
8
Address
$0000Cx
$00014x
$0001Cx
$00024x
$0002Cx
$00034x
$0003Cx
$00044x
Motor #
9
10
11
12
13
14
15
16
Address
$0004Cx
$00054x
$0005Cx
$00064x
$0006Cx
$00074x
$0007Cx
$00084x
Motor #
17
18
19
20
21
22
23
24
Address
$0008Cx
$00094x
$0009Cx
$000A4x
$000ACx
$000B4x
$000BCx
$000C4x
Motor #
25
26
27
28
29
30
31
32
Address
$000CCx
$000D4x
$000DCx
$000E4x
$000ECx
$000F4x
$000FCx
$00104x
X:$000xC0/40
Motor fatal following error limit (Ixx11)
Y:$000xC0/40
Motor status bits
(Second word returned on ? command. See X:$000xB0/30 for first word)
(Refer to ? specification in On-line Commands for detailed description of bit meanings)
0
Background-check in-position
1
Warning following error limit exceeded
2
Fatal following error limit exceeded
3
Amplifier fault error
4
Backlash direction flag
5
I
2
T Amplifier fault error
6
Integrated fatal following error
7
Trigger move
8
Phasing reference error
9
Phasing reference in progress
10
Home complete
11
Stopped on actual position limit
12
Stopped on desired position limit
13
Foreground-check in-position
14
HomeZ flag (gets set =1 on a HOMEZ command; user must reset it to 0)
15
Assigned to C.S. (=1 when motor is assigned to a C.S.)
16-18 Coordinate definition (0=none, 1=A, 2=B, 3=C, 4=UVW, 5=I, 7=XYZ)
19
Reserved for future use
20-23 (Number of C.S. - 1) in which this motor is defined