Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 758
V1.943 Updates (January 2007)
1. Corrected problem to accept non-standard (ASCII code > 2007) characters in comments.
2. Register X:$003206 contains most recent command error code as 3-character ASCII byte code.
3. Corrected problem in compiled PLC (PLCC) computation of INT({var}/1) when {var} =1.
4. Corrected intermittent problem in homing search move when homing command is given while
motor is killed.
5. For Geo Brick configuration, does not permit invalid settings of ADC strobe word variables
I7m06.
6. Added support for new Modbus Ethernet features (require optional Modbus Ethernet firmware):
a. New dual-ported RAM control-panel features (PMAC as Modbus slave)
b. Direct access to PMAC I, M, P, and Q-variables (PMAC as Modbus master or slave)
7. Error codes from CMD operations now stored in X:$003206 in a 3-byte (3-character) ASCII
format (e.g. ERR004 stored as $303034).
V1.944 Updates (January 2008)
1. Added new single-bit variable I28 to permit disabling of automatic update of LCD display port.
This allows use of DISP0-7 I/O lines for general purpose I/O.
2. Fixed operation of high-resolution sinusoidal-encoder interpolation conversion using the ACC-
51S interpolator with Turbo PMAC2A-PC/104 and Turbo PMAC2A-Eth Lite (“Clipper”).
3. Will not attempt absolute position read over MACRO ring when there is a MACRO ring fault.
4. After a MACRO-ring “clear fault”, will immediately read ring error status bits in I6840 and
declare a MACRO-ring fault again before trying any ring operations – this prevents possible lock-
ups.
5. Added new control bit (bit 10) to Ixx24 to permit direct-PWM control of two-phase motors.
6. (Geo Brick firmware only) Improved power-on testing of amplifier functions.
V1.945 Updates (June 2008)
1. Added automatic clear of MACRO ring errors before attempting to read absolute power-on servo
and/or phase positions. If ring errors persist after clear, do not perform these reads.
2. Added MACROSTASCIIFREQ set and query commands to facilitate reading and writing of ring
frequencies for all stations.
3. Added new setup variable I29 to permit alternate address for automatic multiplexer port functions
such as TWS-format M-variables for ACC-34 I/O boards.
4. Changed functionality of obsolete MACROAUX (MX), MACROAUXREAD (MXR), and
MACROAUXWRITE (MXW) commands so they now support communications from Turbo
PMAC acting as ring master to Turbo PMACs acting as MACRO-ring slaves.
5. Changed functionality of I71, I73, I75, and I77 MACRO setup variables. Bit values of 0 no
longer specify obsolete “Type 0” slaves; instead support Turbo PMAC as MACRO slave.
6. Added new setup variable Ixx44 to permit motor to run as MACRO slave, accepting cyclical
commands over the MACRO ring.
7. If receives MACRO flag status bit indicating multiple active nodes at same ring address, will set
global status bit X:$6 bit 7 (configuration error) and kill all motors. If this status bit, which also
can be set to indicate a change in the number or type of Servo or MACRO ICs found since last
saved configuration, is set, no motors can be enabled.