Reference Manual

PMAC 2 Software Reference
494 PMAC Firmware Updates
10. Corrected rotary program buffer operation so that rollover of buffer does not count as “jump back” for
purposes of “double jump back” blending stop.
11. Corrected intermittent background MACRO Type 1 data read problem.
12. Improved efficiency of background MACRO Type 0 data read/write.
13. Corrected intermittent problem in resolver absolute read.
14. Corrected intermittent problem in MACRO Yaskawa absolute encoder read.
15. Corrected power-on loop closing (Ix80=1) problem on MACRO systems.
16. Corrected PRELUDE operation when full program line is subroutine call.
17. Changed default I-variables on Ultralite PMAC2s so default setup is for MACRO system.
18. PMAC2 I9n6 default value set to 0 so PWM outputs are the default -- for protection of direct PWM
amplifiers.
19. Corrected I
2
T operation for PMAC(1) and non-commutated PMAC2 systems.
Update Summary: From V1.16C to V1.16D (Nov 1997)
1. Added geared resolver power-up position thru MACRO in Ix10 (=$73xxxx).
2. Fixed timing of VME DPRAM ASCII interrupt; held off until last interrupt acknowledged
3. Fixed binary rotary buffer transfer for high-speed host computers
4. Added run-time error codes in X:$0799: 1=insufficient calculation time; 2=program counter before start
of program; 3=program counter past end of program; 4=unlinked conditional; 5=subroutine stack
overflow; 6=label not found
5. Added parallel power-up position thru MACRO in Ix10 (=$74xxxx).
6. Added Yaskawa abs. enc. power-up phase position thru MACRO in Ix81 (=$72xxxx)
7. Added resolver power-up phase position thru MACRO in Ix81 (=$73xxxx)
8. Added parallel data power-up phase position thru MACRO in Ix81 (=$74xxxx).
9. Repeated clearing on software reset of general-purpose outputs on PMAC(1)
10. Fixed sign extension of Ix10 read 24-bit parallel feedback when negative
11. Added Sanyo absolute encoder power-up position in Ix10 (=$32xxxx).
12. Delayed testing for amp fault after enable thru MACRO (flags transferred every 2 cycles).
13. Computed post-trigger axis target positions on move-until trigger.
14. Permitted MACRO Station I-variables to be called “MIx”, MACRO Station commands to be called
“MCx” to better distinguish from PMAC variables.
15. Standardized Mini-PMAC(1) firmware
16. Added ‘$’ to hex data returned from MACRO Station if I9=2 or 3, in reporting to host
17. Added more time to get power-up phase position from MACRO Station
18. Fixed direct microstepping operation on PMAC2.
19. Cleared MACRO output registers on reset to support new DSPGATE2B IC.
20. Fixed SIZE command response with buffer open
21. DELETE GATHER does not clear DPRAM gather pointers unless DPRAM gathering set
22. GATHER clears DPRAM gather index if DPRAM gathering set.
23. Made only Card 0 addressed at power-up/reset in daisychain mode (problem from V1.16A).
24. I51=1 does not automatically clear motor torque offsets each servo cycle.