Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 760
V1.948 Updates (November 2013)
1. Fix for phase finding error on hardware limit.
2. CLRF command sends a Node 14 broadcast CLRF message on all MACRO Rings.
3. Random MACRO Move Until Trigger failure fixed.
4. MSTATUS register modified. Bit 14 of MSTATUS now gets set on a HOMEZ command. The
user must reset it. New register composition:
L:$0000C0 MSTATUS DS 1 ; Y: MOTOR STATUS
Bits:
20 – 23 Motor Coordinate System Number (-1)
19 TBD
16 –18 Coordinate Definition
15 Motor Defined In Coordinate System
14 Homez Flag
13 Servo In Position
12 Dpos Limit Stop Flag
11 Pos Limit Stop Flag
10 Home Complete Flag
9 $ - Mtr Phase Find Request
8 Phase Finding Error Flag
7 Trigger/Home Move Flag
6 Integrated Following Error Fault
5 I2t Amp Fault
4 Backlash Direction Flag
3 Amp Fault Error
2 Fatal Following Error
1 Soft Following Error
0 In Position