Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 756
V1.941 Updates (September 2005)
1. Added new features to manage behavior on cornering and when blending is disabled for other
reasons.
a. Isx81 permits in-position check when blending is disabled (not just momentary stop in
commanded velocity).
b. Isx82 permits an automatic added dwell when blending is disabled.
c. Isx83 sets corner angle threshold between blended and non-blended corners.
d. Isx84 determines whether stop is at beginning or end of added arc for outside corners in
cutter radius compensation when blending disabled on sharp corner.
e. Isx85 sets corner angle threshold between non-blended corners where dwell is added and
where no dwell is added.
2. Added new coordinate system I-variable Isx14 to provide end-of-move anticipation feature.
When MOVETIME command is given to coordinate system and Isx14 is not equal to 0, the sum of
the remaining time and Isx14 is scaled into servo cycles and placed into the Isx11 timer.
3. Added new coordinate-system I-variable Isx78 that specifies maximum centripetal acceleration
for circle moves. If programmed feedrate would cause this limit to be violated, feedrate is
reduced so as not to violate this limit.
4. Added new coordinate-system I-variable Isx79 to control whether axes with a shorter distance in
a multi-axis RAPID move are slowed to finish synchronously with the longest axis, or move at
their own RAPID speed.
5. Added new motion program command CC4 to turn off cutter radius compensation, but without
automatically adding a zero-distance lead-out move when no programmed lead-out move
immediately follows.
6. Added new coordinate-system I-variables Isx15 and Isx16 to support feedrate override at the
segmentation stage.
7. Added new global I-variable I38 to permit execution of a single-line subroutine called from the
same program line as a move command after the move command before the suspension of
program calculations.
8. Added new global “do-nothing” I-variable I65 to permit the user to verify configuration
download.
9. Changed reporting of motor I-variable Ixx68 from unsigned to signed (no change in
functionality).
10. Corrected action of $$$*** command for Option 5Fx 240 MHz CPUs.
11. Corrected checksum reporting over auxiliary serial port.
12. Corrected problem with opening FORWARD or INVERSE kinematic subroutine when PLC is
executing a WHILE loop.
13. Corrected action of IDNUMBER and SID commands with Option 5Fx 240 MHz CPUs.
14. Added support for hardware position capture with high-resolution interpolation of sinusoidal
encoders over the MACRO ring. Requires V1.117 or newer firmware on 8-axis MACRO Station,
V1.203 or newer firmware on 16-axis MACRO Station or MACRO Peripherals.