PMAC/PMAC2 V1.17C A DDENDUM J UL -2005 Firmware Update Listing Update Summary: From V1.17B to V1.17C (September 2005) 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 4. Corrected position following function with Ix08 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).
V1.17C Firmware Version 27