Справочник для Delta Tau GEO BRICK LV
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
498
of the master or 1/[Ixx08*32]cts of the slaved motor).
X:$000x8E/0E
Motor feedpot (time base) pointer
Y:$000x8E/0E
Motor servo extension timer
X:$000x8F/0F
Motor PID Velocity Feedforward gain (Ixx32);
Motor ESA S0 gain (Iyy10/60)
Y:$000x8F/0F
Motor servo-loop closure extension (Ixx60)
Motor #
1
2
3
4
5
6
7
8
Address
$00009x
$00011x
$00019x
$00021x
$00029x
$00031x
$00039x
$00041x
Motor #
9
10
11
12
13
14
15
16
Address
$00049x
$00051x
$00059x
$00061x
$00069x
$00071x
$00079x
$00081x
Motor #
17
18
19
20
21
22
23
24
Address
$00089x
$00091x
$00099x
$000A1x
$000A9x
$000B1x
$000B9x
$000C1x
Motor #
25
26
27
28
29
30
31
32
Address
$000C9x
$000D1x
$000D9x
$000E1x
$000E9x
$000F1x
$000F9x
$00101x
D:$000x90/10
Motor compensation position correction (1/[Ixx08*32] cts)
D:$000x91/11
Motor following error (1/[Ixx08*32] cts)
X:$000x92/12
Motor PID derivative gain (Ixx31); ESA T0 gain (Iyy20/70)
Y:$000x92/12
Motor PID intermediate value; ESA S1 gain (Iyy11/61)
X:$000x93/13
Motor PID intermediate value; ESA UT1 term
Y:$000x93/13
Motor PID acceleration feedforward gain (Ixx35);
Motor ESA T1 gain (Iyy21/71)
X:$000x94/14
Motor ESA UT2 term
Y:$000x94/14
Motor ESA T2 gain (Iyy22/72)
X:$000x95/15
Motor ESA UT3 term
Y:$000x95/15
Motor ESA T3 gain (Iyy23/73)
X:$000x96/16
Motor ESA UT4 term
Y:$000x96/16
Motor ESA T4 gain (Iyy24/74)
X:$000x97/17
Motor ESA UR1 term
Y:$000x97/17
Motor ESA R1 gain (Iyy16/66)
X:$000x98/18
Motor ESA UR2 term
Y:$000x98/18
Motor ESA R2 gain (Iyy17/67)
X:$000x99/19
Motor ESA UR3 term
Y:$000x99/19
Motor PID proportional gain (Ixx30); ESA R3 gain (Iyy18/68)
X:$000x9A/1A
Motor PID previous desired velocity; ESA UR4 term
Y:$000x9A/1A
Motor PID deadband gain (Ixx64); ESA R4 gain (Iyy19/69)
X:$000x9B/1B
Motor velocity-loop position address (Ixx04)
Y:$000x9B/1B
Motor PID position error limit (Ixx67);
Motor ESA TS scale gain (Iyy25/75)
X:$000x9C/1C
Motor PID deadband size (Ixx65); ESA F0 gain (Iyy12/62)
Y:$000x9C/1C
Motor velocity-loop scale factor (Ixx09)
X:$000x9D/1D
Motor present actual velocity (unfiltered)
(1/[Ixx09*32]cts / [Ixx60+1] servo cycles)
Y:$000x9D/1D
Motor previous velocity-loop source position
D:$000x9E/1E
Motor PID integrated position error;
Motor ESA previous velocity position
X:$000x9F/1F
Motor PID integral gain (Ixx33); ESA F1 gain (Iyy13/63)