Delta Tau GEO BRICK LV 参考手册
Turbo PMAC/PMAC2 Software Reference
Firmware Update Listing
760
V1.948 Updates (November 2013)
1. Fix for phase finding error on hardware limit.
2. CLRF command sends a Node 14 broadcast CLRF message on all MACRO Rings.
3. Random MACRO Move Until Trigger failure fixed.
4. MSTATUS register modified. Bit 14 of MSTATUS now gets set on a HOMEZ command. The
user must reset it. New register composition:
L:$0000C0
MSTATUS DS 1 ; Y: MOTOR STATUS
Bits:
20 – 23 Motor Coordinate System Number (-1)
19
TBD
16 –18 Coordinate Definition
15
15
Motor Defined In Coordinate System
14
Homez Flag
13
Servo In Position
12
Dpos Limit Stop Flag
11
Pos Limit Stop Flag
10
Home Complete Flag
9
$ - Mtr Phase Find Request
8
Phase Finding Error Flag
7
Trigger/Home Move Flag
6
Integrated Following Error Fault
5
I2t Amp Fault
4
Backlash Direction Flag
3
Amp Fault Error
2
Fatal Following Error
1
Soft Following Error
0
In Position