Reference Manual

PMAC 2 Software Reference
PMAC Firmware Updates 493
Refinements
1. Full circle moves always executed after starting position recalculated due to PMATCH or axis matrix
transformation (more tolerance between start and end positions permitted; see Changes, above).
2. DISPLAY of I-variables fixed.
3. Fast versions of PMAC can interface to ACC-8D Opt 9.
4. Fast versions of PMAC can interface to NC control panel and ACC-34C.
5. O-commands now saturate at +/-100% of Ix69.
6. I52 default set to 37137 for default 1 second stop on ‘\’ program hold command.
7. I11 default set to 0 so move sequences start as soon as calculations are finished.
8. Ix77, Ix86 reported as signed values.
9. RAPID declaration alone on a motion program line no longer causes zero-distance move taking 2*TA
time.
10. Ix10 absolute servo-position read copies axis definition offset into position bias register.
11. Maximum commanded speed increased by factor of 3 to 768M/Ix08 cts/sec (8M cts/sec at default Ix08
value).
12. Cutter comp lead-in move destination, lead-out move origin, changed slightly.
13. Ix30 now can take negative values, permitting output polarity reversal.
14. (PMAC2) ADC1A,B to ADC8A,B registers in DSPGATE1 copied into RAM registers $0710 - $0717
one pair per phase cycle for reliable servo & program access.
15. $$$*** command kills all motors before re-initialization.
Update Summary: From V1.16 to V1.16A (Sept 1996)
1. Corrected problems with PRELUDE subroutine calls
2. Serial port forces CTS true on power-up/reset except for cards numbered greater than 0 on serial
daisychain (I1 = 2 or 3)
3. Cutter compensation outside corner lead-in and lead-out moves always add an arc, regardless of the
setting of I89.
4. When Ix83 bit 19 is set to 1 to read Y-register as commutation feedback, register is read just as an X-
register would be (all 24 bits). This function is now enabled for PMAC(1).
5. For MACRO interface, if I1000=0, firmware no longer automatically reads I995 register, an action
which clears the MACRO error flags.
Update Summary: From V1.16A to V1.16B (Oct 1996)
Corrected STDbus interface problem
Update Summary: From V1.16B to V1.16C (Apr 1997)
1. Corrected problem with interrupt function for PMAC2 DPRAM ASCII buffer.
2. Corrected memory clear problem on $$$ software reset that could affect program and firmware
checksum verification, table-based math function operation.
3. Corrected cutter compensation lead-in/lead-out problem that occurred when lead-in move was collinear
with first compensated move, or lead-out move was collinear with last compensated move.
4. Corrected operation of buffered motion command HOMEZn for rotary axes.
5. Completed implementation of “Auto-Abort on Run-Time Error” function. Ix97 (existing but
undocumented variable) default set to 1 for automatic abort on run-time error (error usually from lack of
calculation time). Coordinate system “run-time-error” status bit left set after auto-abort.
6. Implemented 6 new DPRAM binary rotary buffers (8 total). This moves start of DPRAM data gathering
buffer from $D200 to $D240; pointers from $D1FF to $D23F.
7. Implemented MACRO “Type 1” protocol.
8. Corrected suspension of position loop integrator operation on DAC saturation when Ix34=0
9. Corrected timer reset of I
2
T function on $$$ reset.