Reference Manual

PMAC 2 Software Reference
PMAC Firmware Updates 499
25. Added five-line diagnostic method entry for highly interpolated sinusoidal encoders ($F) enabled by
setting bit 19 of first setup line to 1, to calculate sum-of-squares magnitude or sine/cosine bias word
(Geo PMAC only).
26. Added amplifier status/fault code for seven-segment display (Geo PMAC only), including
CLEARFAULT command to reset display.
27. Added support for hardware position capture with highly interpolated sinusoidal encoders and capture of
estimated sub-count position data in triggered moves with bits 18 and 19 of Ix03.
28. Removed obsolete LIST LDS, <CTRL-E> and <CTRL-W> on-line commands and I47 variable.
29. Corrected action of true deadband (Ix64=-16) with pulse-and-direction output to eliminate potential for
dithering.