Reference Manual

PMAC 2 Software Reference
PMAC Firmware Updates 491
Update Summary: From V1.15 to V1.16 (July 1996)
Changes
1. With I99=0 backlash hysteresis is 0 counts, not 4 counts.
2. With I89=0 cutter comp outside corners only add arc if change in directed angle is greater than 90
o
;
formerly 1
o
.
3. Default changed from 10 to 0.
4. Default changed from 0 to 37137 (1 second slew by default).
5. Full circles executed on any arc command (with IJK center specification) smaller than 2
-20
part of circle
(0.5 arc second); formerly 2
-34
part of circle.
6. Boundary of cutter compensation lead-in and lead-out moves on inside corners changed slightly; now
offset directly from uncompensated destination point perpendicular to fully compensated move only.
Additions
Features
1. User-written phase commutation routines (Ix59).
2. “Stepper-motor” phasing search method for synchronous motors (Ix80).
3. Hall-Effect power-on phase read (Ix81).
4. Integrated current (I
2
T) limiting protection (Ix57, Ix58).
5. Integrated position error limiting protection (Ix63).
6. Programmable backlash hysteresis (I99).
7. Backlash compensation tables (DEFINE BLCOMP).
8. Torque compensation tables (DEFINE TCOMP).
9. MACRO ring support enhancements.
10. Teach/Learn functionality (LEARN).
11. Non-uniform spline mode (SPLINE2).
12. Variable jog commands (J=*, J:*, J^*).
13. Jog-until-trigger commands ({jog}^{constant}).
14. Program move-until-trigger commands ({axis}{data}^{data}).
15. “Torque-limiting” triggering (trigger on warning following error) (Ix03).
16. Extended G, M, T, and D code ranges.
17. Better control of outside corners with cutter compensation (I89).
18. PRELUDE functions in motion programs.
19. Ability to suppress carriage return after SEND and CMD responses (I62).
20. Unsigned A/D feedback ($18, $58 conversions).
21. Parallel feedback in high 16 bits ($2C, $3C, $6C, $7C conversions).
22. Support for ladder-logic compiler in special firmware version.
I-Variables
1. I55 -- DPRAM Background Variable Buffer Control (V1.15G).
2. I62 -- Internal Message Carriage Return Control.
3. I89 -- Cutter Comp Outside Angle Break Point.
4. I99 -- Backlash Hysteresis.
5. Ix02 -- Range extended: bit 19=1 specifies X-register output.
6. Ix25 -- Range extended: bit 18=1 specifies MACRO node for flags.
7. Ix30 -- Range extended: negative values can be used to invert output polarity.
8. Ix57 -- Continuous Current Limit for I
2
T current fault.
9. Ix58 -- Integrated Current Fault Level for I
2
T current fault.
10. Ix59 -- Range extended to 0-3; values of 2&3 enable user-written commutation.