Справочник для Delta Tau GEO BRICK LV
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Memory and I/O Map
518
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x0088
0x00B8
0x00E8
0x0118
0x0148
0x0178
0x01A8
0x01D8
Address
$060022
$06002E
$06003A
$060046
$060052
$06005E
$06006A
$060076
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x0208
0x0238
0x0268
0x0298
0x02C8
0x02F8
0x0328
0x0358
Address
$060082
$06008E
$06009A
$0600A6
$0600B2
$0600BE
$0600CA
$0600D6
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x0388
0x03B8
0x03E8
0x0418
0x0448
0x0478
0x04A8
0x04D8
Address
$0600E2
$0600EE
$0600FA
$060106
$060112
$06011E
$06012A
$060136
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x0508
0x0538
0x0568
0x0598
0x05C8
0x05F8
0x0628
0x0658
Address
$060142
$06014E
$06015A
$060166
$060172
$06017E
$06018A
$060196
DP:$060xxx-$060xxx+1 Motor position bias (1/[Ixx08*32] cts)
[from D:$CC, etc]
Motor #
1
2
3
4
5
6
7
8
Host
Address
0x0090
0x00C0
0x00F0
0x0120
0x0150
0x0180
0x01B0
0x01E0
Address
$060024
$060030
$06003C
$060048
$060054
$060060
$06006C
$060078
Motor #
9
10
11
12
13
14
15
16
Host
Address
0x0210
0x0240
0x0270
0x02A0
0x02D0
0x0300
0x0330
0x0360
Address
$060084
$060090
$06009C
$0600A8
$0600B4
$0600C0
$0600CC $0600D8
Motor #
17
18
19
20
21
22
23
24
Host
Address
0x0390
0x03C0
0x03F0
0x0420
0x0450
0x0480
0x04B0
0x04E0
Address
$0600E4
$0600F0
$0600FC
$060108
$060114
$060120
$06012C
$060138
Motor #
25
26
27
28
29
30
31
32
Host
Address
0x0510
0x0540
0x0570
0x05A0
0x05D0
0x0600
0x0630
0x0660
Address
$060144
$060150
$06015C
$060168
$060174
$060180
$06018C
$060198
DP:$060xxx
Motor filtered actual velocity (1/[Ixx09*32] cts/servo cycle)
[from D:$EF, etc.]