Delta Tau GEO BRICK LV User Manual

Turbo PMAC System Configuration and Auto Configuration 

37 

Updating the firmware will cause Turbo PMAC to revert to default I-variables.  Make sure the 
configuration is backed up before the new firmware is downloaded. 

If writing a custom application to perform this function, detect that the Turbo PMAC is in bootstrap mode 
by sending the ? query command.  In this mode, it will respond with the string BOOTSTRAP PROM 
instead of a hexadecimal status word.  Sending the <CTRL-O> character will prepare the Turbo PMAC 
for the downloading of the binary firmware file.  Wait at least five seconds after sending this character to 
make sure that the flash IC is ready to accept data.  Sending the <CTRL-R> command will take the Turbo 
PMAC out of bootstrap mode and cause it to take the actions of a normal reset. 

The $$$*** command causes a reset and full re-initialization of Turbo PMAC.  In addition to loading 
default I-variable values, it also clears out all of the buffers in active RAM: motion program, PLC 
program, tables, etc. 

Some users will always have the card set up to re-initialize and clear during the reset cycle; they then 
download all parameter settings and programs immediately after each cycle.  The logic behind this 
strategy is that the same startup sequence of operations is used even if a new replacement board has just 
been put in.  It is also useful for those applications that do not wish to rely in any way on Turbo PMAC’s 
own non-volatile flash storage. 

For a complete re-initialization of Turbo PMAC to known state, the following commands can be added: 

Remember that these commands directly affect only active memory (RAM).  To copy new settings into 
non-volatile flash memory, use the SAVE command.