Reference Manual

PMAC 2 Software Reference
498 PMAC Firmware Updates
Update Summary: From V1.17 to V1.17A (Jan 2002, FLEX CPU only)
1. New variable I66 permits disabling of autocopy of servo-channel ADC registers to RAM each phase
cycle. This autocopying is no longer necessary for robust background reads of these registers, so
disabling saves time and permits proper interface of ACC-51P interpolator ADCs.
2. Permitted PMAC to accept comments after M-variable definition statements without returning an error.
Update Summary: From V1.17A to V1.17B (Sep 2002, FLEX CPU only)
1. Corrected interrupt-blocking for Flex CPUs, fixing problem in transition between LINEAR and SPLINE
modes
2. Refined timing on JTHW multiplexer port for use of ACC-34 boards with fastest Flex CPUs.
3. Added purge of host port during power-up/reset to ensure serial port comes up as the default response
port.
4. On Ultralite boards with Flex CPUs, force any additional (unused) MACRO CPUs to input clock signals
to prevent possible contention if these are installed.
5. Improved power-on dual-ported RAM detection test for new interface buses.
Update Summary: From V1.17B to V1.17C (Sept. 2005, FLEX CPU only)
1. Added support for new controller configurations Mini-PMAC-PCI and Geo PMAC integrated amplifier.
2. (Lookahead firmware only) Corrected problem in jogging motors during stop in lookahead where
motors could be de-activated.
3. Corrected minimum move size for rotary axis with Ix27 < 0.
4. Corrected position following function with Ix08 <0.
5. Corrected high-resolution interpolation (conversion method $F) with PMAC2-style ASIC.
6. Corrected handling of comment after M-variable definition on USB port.
7. Corrected auto-detection of SST-type flash IC.
8. Corrected data corruption problems on interrupt.
9. Corrected power-on DPRAM detection problem.
10. Made timing for I/O ports on PMAC(1) more robust with 160 MHz CPU (Opt 5EF).
11. Corrected operation of program homing search move after move-until-trigger that did not find trigger.
12. Embedded checksum into firmware file, so $$$*** command is not required after firmware download
to establish proper checksum match.
13. Added “do-nothing” variable I65 to give user easy way to confirm if application configuration has been
downloaded and saved, and/or to serialize controllers.
14. Assigned “hardware 1/T enable” control bit to new I-variable I9n9 for Channel n (PMAC2 only).
15. Assigned “third-channel demux enable” control bit to new second bit (bit 1) of existing I-variable I9n5
for Channel n (PMAC2 only).
16. Assigned ADC data table setup in X:$0708 – X:$070F to new I-variables I70 – I77, respectively.
17. Added support for byte-wide parallel data reads to support ACC-14P boards in encoder conversion table
methods $2 and $3.
18. Modified action of “MaxChange” filter in conversion table methods $3 and $7. If MaxChange is
exceeded, result is now changed by “LastChange”, not “MaxChange”, if previous cycle’s result was
good.
19. Added I-variables I1010 – I1012 to support resolver excitation (Geo PMAC only).
20. Added I-variable I1013 to support motor temperature check (Geo PMAC only).
21. Added I-variables I1015 – I1019 to support SSI absolute encoder interface (Geo PMAC only).
22. Added five-line tracking-filter variant of exponential-filter conversion method ($D) enabled by setting
bit 19 of first setup line to 1, permitting low-pass filter without steady-state error – suitable for
processing feedback data.
23. Added resolver conversion method ($E) to encoder conversion table (Geo PMAC only).
24. Added three-line interpolated sinusoidal encoder conversion method ($F) with sine/cosine bias word
(Geo PMAC only – this method is a two line entry without a bias word on other PMACs).