Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 750
9. Fixed operation of DEFINE GATHER command without argument when gathering set up for dual-
ported RAM.
10. Corrected arctangent calculations for high-resolution encoder interpolation and “two-guess” phasing
search.
11. Fixed the blocking of interrupts around writing to M-variables in background routines to ensure no
corruption when foreground and background routines write to M-variables in the same word.
12. Added capability to stop on desired position limit if Bit 15 of Ixx24 is set to 1. Positive desired
position limit is (Ixx13 – Ixx41); negative desired position limit is (Ixx13 + Ixx41). If Bit 14 of Ixx24
is also set to 1, program will not stop, but motor will saturate at the limit value.
13. Added “auto-detect” capability for Servo ICs and MACRO ICs. I65, I66, I67, and I69, which user
formerly set to tell Turbo which ICs were present, are no longer used. I4900 and I4901 now report
which ICs are present and which type.
14. I19 now specifies which Servo IC or MACRO IC is the source of the servo and phase clock signals
for the system.
15. Added six more hex digits (24 status bits) to the response for the ?? coordinate-system status-query
command, for a total of 18.
16. Improved operation of watchdog timer, so less likely to trip on heavy, but valid, CPU loading. Now
permits user to set required background period for watchdog timer with I20.
17. MSDATE{node#} now returns 4-digit year value.
18. Implemented special forward-kinematic and inverse-kinematic motion-program subroutine buffers for
each coordinate system, created with new OPEN FORWARD and OPEN INVERSE commands. New
variable Isx50 set to 1 causes these buffers to be used. New axis-definition command #{motor}-
>I causes Turbo PMAC to use inverse kinematic routine to convert from axis to motor coordinates.
Number of regular motion program buffers reduced from 256 to 224 to accommodate these new
buffers.
19. Added new run-time error codes 7 (arc radius smaller than tool radius), 8 (forward-kinematic
equation error), and 9 (inverse-kinematic equation error).
20. Added new on-line command EAVERSION to give more complete listing of firmware revision and
type.
21. Added new command IDC to force synchronization of PMAC’s RAM timer with Option 18B non-
volatile timer.
22. Password protection extended to compiled PLCs, user-written servo algorithms, user-written phase
algorithms, forward-kinematic programs, and inverse-kinematic programs.
23. Improved communications response time when multiple ports are used simultaneously.
24. If all motors in a coordinate system are undefined while coordinate system is running a motion
program, program will now stop with a run-time error
25. New variable I21 now permits lockout of changes to classes of I-variables
26. New variable I14 permits retention of structure of temporary buffers through power-down or reset so
they do not have to be redefined.