Delta Tau GEO BRICK LV User Manual

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2.  The last-saved user configuration – variable values and definitions, user programs, tables, and buffers 

– are loaded from the flash memory into active memory and registers.  During this loading, the 
checksums of the saved data are evaluated.  If the checksum for the saved I-variables does not match 
the data, all I-variables in active memory are returned to their factory default values.  If the checksum 
for the programs and buffers does not match the data, all of these programs and buffers are 
completely cleared from active memory. 

3.  The basic configuration of the system – memory capacity, ASIC presence, location, and type – is 

checked and logged.  Counters in all ASICs are cleared. 

4.  All motors with Ixx80 bit 0 set to 1 are enabled. 
5.  All existing PLC programs whose operation is permitted by the saved value of I5 are activated. 

If any of the above methods for resetting is used when the Turbo PMAC is configured for re-initialization, 
the actions described in this section will occur.  A Turbo PMAC is configured for re-initialization when 
both of the following conditions are true: 
1.  The re-initialization jumper (E51 on a Turbo PMAC, E3 on a Turbo PMAC2) IS installed. 
2.  The four bootstrap mode jumpers for the CPU (E4 – E7 on the piggyback Turbo CPU board, E20 – 

E23 on UMAC and UMAC-CPCI CPU boards) are in their standard configuration (outer two jumpers 
off, inner two jumpers on). 

For a Turbo PMAC configured in this manner, when digital power is applied, or the hardware reset line is 
released to go high, or the $$$ software reset command is given, the following actions occur: 
1.  The installed firmware is loaded from the flash memory into active memory. 
2.  The factory default I-variables are loaded from firmware into active memory and registers. (The last 

saved values in flash are not lost; they are simply not used.)  The last saved user programs, table and 
buffers are loaded into active memory, but none will be active because of the default I-variable 
settings.  If the checksum for the programs and buffers does not match the data, all of these programs 
and buffers are completely cleared from active memory. 

3.  The basic configuration of the system – memory capacity, ASIC presence, location, and type – is 

checked and logged.  The CPU will make some decisions about default I-variable values based on this 
configuration information.  Counters in all ASICs are cleared. 

4.  Because of the default I-variable configuration, no motors are enabled, and no programs are activated. 

If any of the above methods for resetting is used when the Turbo PMAC is configured for firmware 
reload, the actions described in this section will occur.  A Turbo PMAC is configured for firmware reload 
when the four bootstrap mode jumpers for the CPU (E4 – E7 on the piggyback Turbo CPU board, E20 – 
E23 on UMAC and UMAC-CPCI CPU boards) are in their firmware-reload configuration (first jumper 
OFF, last three jumpers ON). 

For a Turbo PMAC configured in this manner, when digital power is applied, or the hardware reset line is 
released to go high, or the $$$ software reset command is given, only the bootstrap firmware is loaded 
into active memory.  At this point, it is ready to accept the download of new operational firmware into its 
flash memory through either the main serial port or a bus port that operates through the host port of the 
DSP (not VME or DPRAM). 

The PMAC Executive program, when it establishes communications with a Turbo PMAC reset into this 
mode, will detect that the Turbo PMAC is in bootstrap mode and ready to accept new firmware 
automatically.  It will ask for the name of the file containing the firmware to download.