Reference Manual

PMAC 2 Software Reference
PMAC Firmware Updates 495
Update Summary: From V1.16D to V1.16F (June 1999)
{Note: V1.16E was never released}
1. Fixed listing of GOSUB{expression} – had listed as GOTO {expression} .
2. Permitted more flexibility in detecting MACRO communications errors in I1001 servo cycles by use of
new variables I1004 and I1005.
3. Made MACRO communications error checking more predictable by moving check from background to
real-time interrupt
4. Permitted Ix10 absolute power-on read outside of full board reset, using new $* command.
5. Ix80 bit 2 set to 1 disables Ix10 absolute power-on read during full board reset.
6. Motor “home complete” status bit cleared at beginning of Ix10 absolute power-on read, set to 1 on
completion of successful read.
7. On Mini-PMAC, permitted software-read jumpers to be changed and read properly on next reset,
without cycling power.
8. On Mini-PMAC, always bypass routine to read (non-existent) control panel port, regardless of value of
I2.
9. Permitted leadscrew compensation table to operate as function of net commanded position instead of
actual position if ‘D’ character declared after source motor in DEFINE COMP command (e.g. DEFINE
COMP 100, #1D, #1, 500000).
10. Fixed PMAC operation when accessing absolute position through MACRO nodes 8 and higher.
11. Refined interaction of overtravel limits with phasing search moves:
– Limits are checked at power-up/reset before phasing search algorithm, preventing immediate phasing
search if in limits.
– Limit status is monitored even when amplifier is disabled, permitting motor to be manually moved off
limits, then phased.
– If phasing search move ends up in limit, motor is killed and phasing search error bit is set.
12. Implemented DPRAM ASCII interrupt with CTRL0 line on PMAC2-PC Ultralite (requires ECO #1282
to be seen by PC).
13. Corrected 2D leadscrew compensation table so could be non-square dimension in counts and number of
entries.
14. Implemented encoder conversion table entry for high-resolution analog encoder. Format $F0. Two-line
entry. First line is $F0xxxx, where xxxx is the address of the encoder registers (e.g.$C020 on ACC-51).
Second line is $00yyyy, where yyyy is the first (lower) address of the A/D input pair (e.g. $C022 on
ACC-51)
15. Modified $50 encoder conversion table entry for integrated A/D conversions to mask out lower 8 bits
before integrating. Important for proper interface of CAN-drive system.
16. Motion program can now progress through non-motion and DWELL commands when % value is 0.
Permits viewing of calculated move end position even when %0 prevents interpolation from starting.
17. Added PAUSE PLC n and RESUME PLC n commands (on-line, motion program, and PLC program)
to allow suspension of PLC operation without having to restart at the top.
18. Enhanced LIST PLC n command to permit listing from point of pending execution.
19. Added I63 variable; when set to 1, PMAC echoes <CTRL-X> character back to host, so host knows
when communications buffers are clear.
20. Ix26 home offset parameter now also used on Ix10 absolute position read, subtracted from sensor
position to get motor position.
21. Permitted Type 1 MACRO auxiliary command to multiple MACRO Stations with MS15,
MIx={data} , for “anynode” MI-variables on the MACRO Stations.
22. Corrected location of buffer pointers in memory map (wrong in V1.16C and D)
23. Corrected operation of PRELUDE function for code and program numbers less than 8
24. Values of I53 and I62 are now stored in a SAVE command.