Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 757
15. Added support for Modbus Ethernet I/O with new I-variables I67 and I69.
16. Enhanced MACRO ring-break detection
a. Automatically broadcasts ring-break message if detected here
b. Automatically responds to received ring-break message
c. Properly detects ring breaks found at power-up/reset
d. Accepts CLEARFAULT (CLRF) command to reset ring-break fault status
17. Added five-line tracking-filter variant of exponential-filter conversion method ($D) to encoder
conversion table, enabled by setting bit 19 of first setup line to 1, permitting low-pass filter
without steady-state error – suitable for processing feedback data.
18. Changed bias word (third setup I-variable) for high-resolution sinusoidal encoder conversion
($F/$0) in encoder conversion table from a single 24-bit term used on both sine and cosine to two
12-bit terms, one for each signal.
19. Added five-line diagnostic method entry for highly interpolated sinusoidal encoders ($F/$1) in
encoder conversion table to calculate sum-of-squares magnitude or sine/cosine bias word.
20. Added direct resolver conversion method entry ($F/$4) to encoder conversion table.
21. Modified action of “MaxChange” filter in conversion table methods $3, $7, and $F/$3. If
MaxChange is exceeded, result is now changed by “LastChange”, not “MaxChange”, if previous
cycle’s result was good.
22. Added new global status bits for MACRO ring status and Modbus TCP network.
23. Added capability for disabling automatic parser of main serial port with (new) bit 1 of I43.
24. Added capability for fast save of 85 P-variables to special sectors of flash memory with FSAVE,
FREAD, and FSAVECLEAR commands.
25. Added capability to move PID integrator to inside of velocity loop for improved disturbance
rejection with (new) bit 1 of Ixx96. This changes meanings of bits 0 and 1 of first motor status
word.
26. Added automatic emergency-stop function for Turbo PMAC integrated amplifier configurations
(such as Geo Brick).
27. Added new variable I36 to permit separation of abort and enable functions. With I36=1, abort
commands do not enable disabled motors. New commands E and <CTRL-E> enable disabled
motors.
28. Added new single-bit variable I27 to permit input data in TWS-format M-variables from ACC-34
boards to be read on signal line DAT7 instead of the default DAT0 on the JTHW multiplexer
port.
V1.942 Updates (October 2005)
1. Fixed operation of acceleration feedforward gain that was present in V1.941 release.