Reference Manual

PMAC 2 Software Reference
PMAC Firmware Updates 497
Update Summary: From V1.16G to V1.16H (Sept 2000)
1. Fixed problem when issuing a CMD”PMATCH” from within a motion program.
2. Fixed floating-point underflow problem that could produce very large values.
3. Fixed operation of homing-search move if previous homing-search move was interrupted by a K (kill)
command.
4. Improved accuracy of high-resolution encoder interpolation calculations in conversion table.
5. Responses to CMD “{on-line command}” are no longer terminated with an <ACK> even when
I3=2.
6. Fixed scaling of parallel absolute position received through MACRO ring in response to $* command.
7. Fixed rare intermittent problem in response to MACROSLVREAD command.
8. Fixed intermittent problem in action of the CLOSE command.
9. Fixed operation of resolver-to-digital converter read through MACRO ring with $ command.
10. Fixed small issues with cutter radius compensation.
11. Fixed operation of leadscrew compensation tables in center one-eight-millionth section.
12. On PMAC2 boards jumpered for “external clock” with E1, gate array ICs are automatically set up to
input clocks.
13. If I
2
T feature is disabled by setting Ix57 to 0, I
2
T fault bit is automatically cleared.
14. J! command always forces command position to nearest full count, regardless of following error.
15. Fixed operation of single-line IF and WHILE statements in rotary buffer when there are no subsequent
lines in the buffer.
16. PMAC2 Ultralite no longer needs to enable motor with “O0” command before issuing “$” command to
phase motor.
17. Auto-detects flash IC type (AMD or SST) so common firmware can save to either type of IC.
18. Implemented alternate rollover mode for rotary axes A, B, and C. If Ix27 is set to a negative value, the
sign of the axis command destination value represents the direction to travel to the destination.
19. Implemented SETPHASE command (on-line, motion, PLC), which forces Ix75 value into phase position
register.
20. Implemented OPEN BINARY ROTARY command to permit simultaneous entry of binary buffered
commands and ASCII on-line commands.
Update Summary: From V1.16H to V1.17 (Oct 2001, FLEX CPU only)
1. Added support for Option 5xF “Flex” CPUs with DSP56300-family CPUs.
2. Variable I0 now specifies serial addressing card number (@n) for PMAC(1) boards with Flex CPU (as
well as for all PMAC2 boards).
3. New variable I46 sets CPU operational frequency for boards with Flex CPU. If I46=0, jumpers are used
for this
4. Variable I54 now specifies serial baud rate for PMAC(1) boards with Flex CPU and I46 > 0 (as well as
for all PMAC2 boards).
5. Fixed response to LIST COMP DEF command.
6. Firmware reference checksum value now included as part of firmware itself. It is no longer required to
re-initialize the card to compute the reference checksum.
7. New CHECKSUM on-line command causes PMAC to report the firmware reference checksum.