Reference Manual

Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing 751
V1.935 Updates (February 2000)
1. Corrected problem with executing P({expression})={expression} statement in motion
program.
2. Corrected problem in homing-search move with capture over MACRO ring when previous homing-
search move was interrupted with a KILL command.
3. On-line addressing commands # and & are now port-specific; they only affect the addressing of
commands on the port they were sent to, no longer the other ports.
4. The set of eight motors whose data is reported on a <CTRL-P>, <CTRL-V>, <CTRL-F>, or
<CTRL-V> command is now independent for each port, set by the new ##{constant} command
given on that port, not by the global variable I59.
5. I59, which now affects the Turbo PMAC control-panel port selector only, can now be set from the
control-panel port.
6. New commands ADDRESS#P{constant} and ADDRESS&P{constant} permit variable setting
of the addressed motor and coordinate system, respectively, from within a PLC program for CMD
statements within that PLC program.
7. Added registers that record instruction cycles spent in phase and servo interrupt tasks to help
determine computational duty cycle status.
8. Added cutter compensation move buffer, created with DEFINE CCBUFFER{constant}
command, erased with DELETE CCBUFFER command, to permit out-of-plane moves while in cutter
compensation.
9. Added ERR019, which is reported when a command to change position value (HOME, HOMEZ, PSET)
is attempted while moves are stored in the cutter compensation move buffer.
10. If the same axis letter repeats in a single motion-program line, each occurrence is a new move
command. Formerly, the values associated with the later occurrence overwrote the values associated
with the earlier occurrence, and only a single move was executed. For example, the program line
TM1000 X10 X20 X30 now causes the execution of three consecutive X-axis moves, each one
second long. Formerly, it caused execution of only a single move (X30), one second long.
11. When entering SPLINE mode, the move time for the added introductory spline segment is now
automatically set to the first move time declared with TM in SPLINE mode. Formerly, this segment
time was left at the previous value (or the Isx89 default if no value had previously been declared).
12. Fixed problem with scaling of absolute phase position reads from MACRO Stations with
Ixx91=$73nnnn or Ixx91=$74nnnn so they now match the scaling of ongoing feedback scaled in 1/32
count. Implemented new Ixx91 settings of $71nnnn and $72nnnn to match scaling of ongoing
feedback scaled in counts.
13. Fixed internal stack error that occurred on abort and could cause overwriting of variables like Ixx68.
V1.936 Updates (April 2000)
Note:
After upgrading an older system to V1.936 and either getting the old configuration
back from flash memory or reloading a configuration file, issue an I20..24=*
command to set up any MACRO ICs and DPRAM ICs properly. If there were
non-zero values in the old configuration for I20 and I21, enter these values into I40
and I41 respectively. After this, save the configuration and reset the board
normally.
1. Added support for UMAC Turbo systems.