Reference Manual

PMAC 2 Software Reference
492 PMAC Firmware Updates
11. Ix63 -- Range extended; negative values permit integrated following error fault.
12. Ix80 -- Range extended to support “stepper” power-on phasing search.
13. Ix81 -- Range extended to support hall-effect phase read.
14. Ix83 -- Range extended: bit 19=1 specifies Y-register feedback.
15. I1000 -- MACRO node auxiliary register enable.
16. I1001 -- MACRO Ring Check Time Period.
17. TWS-format M-variables -- Extended to add parity bits in backward-compatible format; bit 6 of
global status word X:$0003 is set to 1 if the most recent TWS read or write operation resulted in a
parity error.
Conversion Table Entries
1. $2C, $3C, $6C, $7C -- parallel feedback shifted right 3 bits (meant for feedback appearing in high
16 bits); supports rollover.
2. $18, $58 -- unsigned 16-bit A/D feedback, no rollover of source; to support ACC-28B.
On-Line Commands
1. DEFINE BLCOMP -- Establishes backlash table for addressed motor.
2. DEFINE TCOMP -- Establishes torque compensation table for addressed Motor.
3. DELETE BLCOMP -- Erases backlash table for addressed motor.
4. DELETE TCOMP -- Erases torque compensation table for addressed motor.
5. J=* -- Variable jog-to-position; destination in L:$082B, etc. (V1.15E).
6. J:* -- Variable incremental jog; distance in L:$082B, etc. (V1.15E).
7. J^* -- Variable incremental jog, distance in L:$082B, etc. (V1.15E).
8. J=={constant} -- Jog to specified position, make that “pre-jog” position.
9. {jog command}^{constant} -- Jog until trigger, final value specifies distance from trigger
position to stop.
10. LEARN -- Reads present commanded positions for all motors in coordinate system, converts to axis
positions, adds axis commands to open motion program.
11. MFLUSH -- Clears synchronous M-variable stack without executing.
12. LIST LDS -- PMAC reports addresses of special compiled PLC ladder-logic routines for cross-
compiler (special firmware required).
13. TYPE -- PMAC reports hardware and software configuration.
Motion Program Commands
1. {axis}{data}^{data} -- Move-until-trigger for RAPID mode moves.
2. SPLINE2 -- Puts program in non-uniform B-spline mode.
3. G, M, T, D codes -- Extended to support range of 0-999.99999; formerly 0-99.99999.
4. PRELUDE1{command} -- Adds {command} before subsequent move commands.
5. PRELUDE0 -- turns off prelude function.
DPRAM Structures
Second binary rotary program download buffer added (V1.15G).