RMC150 Firmware Release Notes

This file contains the differences between versions back to the first official RMC150 firmware version.

RMC150 Firmware 3.72.4 (October 4, 2024)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which it was possible in rare cases to lock up the EtherNet/IP, Modbus/TCP, Allen-Bradley CSP, DMCP, and Mitsubishi Procedure Exist protocols.
Fixed a problem where writing a NaN or infinity to a variable of type REAL would result in unexpected behavior.

RMC150 Firmware 3.72.3 (February 26, 2024)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes affecting the RMC150.

RMC150 Firmware 3.72.2 (December 6, 2023)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes affecting the RMC150.

RMC150 Firmware 3.72.1 (March 1, 2023)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes affecting the RMC150.

RMC150 Firmware 3.72.0 (February 21, 2023)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes affecting the RMC150.

RMC150 Firmware 3.71.3 (September 22, 2022)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem with the Curve Start Advanced (88) and Curve Start Advanced (Prs/Frc) (89) commands, in which the TGDone status bit did not turn on when the master reached the end if Absolute Master alignment was selected.
Improved logging when Direct Output halts occur to an axis due to disabling the axis or issuing a Fault Controller (8) command.
[Requires RMCTools 4.22.0 or newer]

RMC150 Firmware 3.71.2 (March 25, 2022)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Improved the accuracy of the sample period generated by the Sine Start (72) and Sine Start (Prs/Frc) (76) command. In particular, this improves the phase alignment of sine waves of different frequencies.

RMC150 Firmware 3.71.1 (November 1, 2021)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the simulated position would jump when a Set Actual Pressure/Force (65) command was issued. This only affected axes running in Simulate Mode.

RMC150 Firmware 3.71.0 (February 23, 2021)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a set of Loop Time Used registers (in microseconds) that can be plotted and used to evaluate control loop utilization more easily.
[Requires RMCTools 4.18.0 or newer]
Added a set of System Time registers with various units to make it easier to measure elapsed time. Units include seconds, milliseconds, microseconds, nanoseconds, control loops, and 16th of a millisecond.
[Requires RMCTools 4.18.0 or newer]

RMC150 Firmware 3.70.1 (December 23, 2020)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which it was possible for the controller to fail to start up when very large curves had been saved to the flash.

RMC150 Firmware 3.70.0 (December 1, 2020)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for Valve Linearization using a curve.
[Requires RMCTools 4.17.0 or newer]
Added support for storing the new High Control Loop Utilization setting. See RMCTools documentation for more information on this setting.
[Requires RMCTools 4.17.0 or newer]

RMC150 Firmware 3.69.0 (June 26, 2020)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

When a task is started or stopped by a program trigger, the program trigger number is now included in the Event Log.
[Requires RMCTools 4.16.0 or newer]

RMC150 Firmware 3.68.5 (February 3, 2020)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the Count Unwind parameter is incorrectly validated for absolute rotary SSI axes with 31 SSI data bits.
Minor corrections to handling of two cases in which an EtherNet/IP client sends an invalid request to change the IP settings. The corrections were made to comply with recent clarifications to the EtherNet/IP specification.

RMC150 Firmware 3.68.4 (September 10, 2019)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed the event logging for DF1 PLC-5 Word Range Read and Write functions to include the file type, if known, and offset.

RMC150 Firmware 3.68.3 (April 3, 2019)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the Open Loop Absolute (11) and Open Loop Relative (12) commands could not be used in Unidirectional Mode.
Fixed a problem with Automatic Unidirectional Mode in which the control direction could be determined incorrectly in certain situations, including at the end of some Quick Moves.
Fixed a problem with the Dynamic Plot Upload Area in which uploading multiple continuously-capturing plots could not be consistently synchronized.

RMC150 Firmware 3.68.2 (March 5, 2019)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem with Negative and Bidirectional Pressure/Force Limit modes in which, when comparing against the negative limit, the Pressure/Force Feed Forward and Pressure/Force Rate Feed Forward parameters were applied backwards.

RMC150 Firmware 3.68.1 (February 21, 2019)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which a wire break detected on the A or B signals on a quadrature input on the UI/O module did not trigger a No Transducer error.

RMC150 Firmware 3.68.0 (February 21, 2018)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Greatly improved the performance and robustness of the Ethernet communications, including prioritizing and discarding frames as necessary to ensure that important Ethernet traffic is not disrupted. With these improvements, the RMC now passes the PROFINET Netload Class III test.
Improved the EtherNet/IP error codes to comply with the latest EtherNet/IP Conformance Test revision (CT15). This does not otherwise affect the controller behavior.
Improved Address Resolution Protocol (ARP) implementation to comply with PROFINET recommendations, such that the controller should now respond more quickly when a device it is communicating with is replaced and the IP address is now mapped to a different MAC address.
Removed support for the IGMP protocol since the controller never joins any IP multicast groups as a listener. Notice that the controller does still support generating IP multicast traffic.
Improved Internal Task Statistics to provide current state of each task.
[Requires RMCTools 4.08.0 or newer]

Bugs Fixed:

Fixed two problems in which, in rare situations, Ethernet communications could stop and require a controller reset to restart.
Fixed a problem with EtherNet/IP in which, if the originator requested a non-standard UDP port for I/O traffic, the RMC still sent I/O packets to the standard UDP port. Delta knows of no actual originators that request a non-standard UDP port.
Fixed a problem in which outgoing EtherNet/IP I/O packets and many outgoing PROFINET packets were counted as multicast frames in the diagnostic counters instead of unicast.
Fixed a problem in which trying to read data from the Dynamic Plot Upload Area in certain cases where RMCTools downloaded an invalid plot configuration could result in the communications stopping and require a controller reset to restart. Notice that the problem where RMCTools downloads could result in an invalid plot configuration was fixed in RMCTools 4.07.4.

RMC150 Firmware 3.67.2 (November 30, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes affecting the RMC150.

RMC150 Firmware 3.67.1 (November 3, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which issuing a new Move command before a previous move was completed could cause a low deceleration to be used in certain cases.

RMC150 Firmware 3.67.0 (October 27, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes. Firmware revision updated to match changes made in the RMC70 products.

RMC150 Firmware 3.66.1 (July 28, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which Ethernet packets to be sent could be delayed unnecessarily in rare cases. This has been known to cause "Missed I/O Productions" to be reported in the Event Log and to cause EtherNet/IP and PROFINET IO connections to time out in rare cases.

RMC150 Firmware 3.66.0 (July 20, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added three new integrator modes: Always Zero, TGDone, and Decel.
[Requires RMCTools 4.05.0 or newer]
Added a new Current Integrator Mode axis status register (%MDx.47) to access the current integrator mode, and renamed the Integrator Mode axis parameter register (%MDx.60.0-3) to Default Integrator Mode.
[Requires RMCTools 4.05.0 or newer]
The Set Integrator Mode command no longer changes the Default Integrator Mode parameter, but instead only modifies the active integrator mode, available in the Current Integrator Mode axis status register.

RMC150 Firmware 3.65.2 (July 6, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which, in rare situations, Ethernet communications could stop and require a controller reset to restart.
Fixed a problem in which the controller could incorrectly report that the EtherNet/IP originator (master) device was in RUN mode when it was in PROGRAM mode. This is only known to happen in a case where the originator had an anomaly.
Fixed a problem with the Track Position (57) command in which re-issuing the command disrupted the command's deadband behavior.

RMC150 Firmware 3.65.1 (June 16, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Improved the accuracy of the target position generated by the Gear Velocity (31) command, especially at low velocities.

RMC150 Firmware 3.65.0 (February 7, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a new Control Behavior option to the Hold Current Position (5) command. The new Maintain (2) option allows maintaining the current Control Output when transitioning from Open Loop or Pressure/Force control without being affected by the Actual Velocity at the time of the transition.
[Requires RMCTools 4.02.0 or newer]

RMC150 Firmware 3.64.0 (February 3, 2017)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for initializing one shots used by Program Triggers when entering RUN mode so that conditions do not trigger immediately.
[Requires RMCTools 4.01.0 or newer]
Changed the default value for the Pressure/Force Proportional Gain parameter from 1.0 to 0.001.
Added support for disabling the Noise Error feature by setting the Noise Error Rate parameter to zero (0.0).
Changed the default value for the Noise Error Rate parameter from 1000.0 to 0.0 (disabled).

Bugs Fixed:

Fixed a problem where I/O was shown incorrectly in the Event Log when a PROFINET connection was set up to use 256 registers of I/O data.
Fixed a problem where the Target Position could momentarily step outside of the unwind region after a Set Actual Position or Offset Position command.

RMC150 Firmware 3.63.0 (May 11, 2016)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which, for the Curve Start Advanced command with a Master Scale parameter value other than 1.0, the calculated Target Velocity, Acceleration, and Jerk would be incorrect.

RMC150 Firmware 3.62.1 (February 22, 2016)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem with DHCP renewal where the renewal timeout values were not recalculated when the lease time changed after renewal.
Added a 100 ms delay after an Ethernet link up is detected before the Ethernet port is used. This gives both ends of the link time to stabilize before packets are sent, reducing the chance that initial packets are lost.
Fixed a rare situation in which the DHCP client can lock up if the DHCP server offers us an IP address but then fails to acknowledge our request for that IP address.

RMC150 Firmware 3.62.0 (February 1, 2016)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Changed the default value for the Closed Loop Halt Deceleration parameter from 10 to 100.
Made a number of improvements to the EtherNet/IP support. This updated EtherNet/IP implementation has been re-certified through the ODVA Conformance Test Labs. The following list highlights changes made to the EtherNet/IP feature set:
1. Updated the Revision reported by the Identity object to 3.1.
2. Updated the Device Type reported by the Identity object from 0 (Generic, non-keyable) to 43 (Generic, keyable).
3. Updated the embedded EDS file to reflect the device's updated EtherNet/IP capabilities.
4. Added support for the new Encapsulation Inactivity Timeout attribute in the TCP/IP Interface Object.
5. CIP connections can now only be closed explicitly from the same IP address that established the connection.
6. When all CIP connections on a TCP connection have timed out, the TCP connection will now be closed immediately.
7. Added support for the new Interface Capabilities attributes in the Ethernet Link Object.
8. Updated error handling in several cases to match the current EtherNet/IP specification.
9. The responses to broadcast ListIdentity requests are now randomly delayed a small amount to minimize the risk of an ARP storm while browsing, as required by the current EtherNet/IP specification.
10. The DHCP client will now include the Host Name in its request, if it has been set. This can be used by the DHCP server to update the DNS records in the DNS server.
11. The DHCP and BOOTP clients now update the Name Servers, Domain Name, and Host Name attributes in the TCP/IP Interface Object when they are provided by the DHCP server. However, these fields are not otherwise used in the controller.

Bugs Fixed:

Fixed a problem in which the DHCP client did not recognize valid responses from some DHCP servers, in particular, when the options field was smaller than 64 bytes.
Fixed a problem with how the DHCP client notified servers when it is declining an IP address due to an address conflict.
Fixed a minor problem with IP address collision detection (ACD) in which broadcast ARP probes during the initial probing phase were ignored when they should have been treated as collisions, but directed ARP probes during this phase were treated as collisions when they should have been ignored.
Fixed a problem in which changing the IP address while a PROFINET connection was established caused the RMC to no longer accept new PROFINET connections.

RMC150 Firmware 3.61.1 (December 17, 2015)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed several problems that were introduced in 3.61.0, in which the sine move target position, pressure, or force could be incorrect in certain situations.
Fixed a long-standing problem in which stopping a Sine Move using a Sine Stop (73/77) command with the Next Cycle (0) option when the sine was started at the positive peak would result in the sine wave stopping abruptly at the middle of the move 1/4 cycle too early.

RMC150 Firmware 3.61.0 (November 20, 2015)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for adjusting the Phase of a Sine Move using the Change Target Parameter (80) and Change Target Parameter (P/F) (81) commands.
[Requires RMCTools 3.61.0 or newer]
In Modbus/TCP, increased the maximum size of writes from 100 holding registers to 125 for the Write Multiple Registers function and to 123 holding registers for the Read/Write Multiple Registers function.
In Modbus/TCP, added support for the Read Device Identification function.

Bugs Fixed:

Fixed a problem in which an External Halt would not correctly propagate to other axes in the same Halt Group.
Fixed a problem in which the Model-based Filter did not correctly apply the asymmetrical system gain in the negative direction. Instead the position system gain was used in both directions.
Fixed some minor problems with handling errors in the Modbus/TCP and CSP (DF1 over Ethernet) protocols.
Fixed a problem in which full-size Omron/FINS read/write requests (512 words) could lock up the Omron/FINS server.
Fixed a problem with handling the Simulator position at the maximum transducer position.
Fixed some problems when 802.1Q priority tagging was enabled.
Fixed a small problem with compliance with the IPv4 Address Collision Detection (ACD) feature in EtherNet/IP. This is a small change that will not be noticed by users.
Fixed a problem in which incoming EtherNet/IP I/O packets would get discarded if the Don't Fragment (DF) flag is set in the IP header. It is unclear which, if any, EtherNet/IP clients set this flag, since this has not been reported by users.

RMC150 Firmware 3.60.0 (June 12, 2015)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for saving the Controller Name and Axis Names in the controller itself so that they can be uploaded into a new project file.
[Requires RMCTools 3.60.0 or newer]
Added the new Set Actual Pressure/Force (65) command, which sets the Actual Pressure/Force to the specified value, and if Pressure Control or Pressure Limit modes are enabled, the Target Pressure/Force is adjusted by the same amount to avoid disrupting the control mode.
[Requires RMCTools 3.60.0 or newer]

RMC150 Firmware 3.59.3 (November 13, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Minor changes required by PROFINET re-certification. The PROFINET Software Release is now reported as "V1.0.1". These changes only affected behavior in certain error conditions.
IP Address Collision Detection (ACD) now ignores unicast ARP packets. This prevents the IP Device Tracking feature in some Cisco switches from causing the RMC to incorrectly report a duplicate IP address detected on startup.

RMC150 Firmware 3.59.2 (August 25, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem where the EtherNet/IP service could lock up in rare cases when the Dynamic Plot Upload Area was used incorrectly.

RMC150 Firmware 3.59.1 (July 18, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for Limit Inputs on Position and Velocity Reference axes. Unlike control axes, the Limit Inputs will trigger the error bits to turn on regardless of the current travel direction of the axis.

Bugs Fixed:

Fixed a problem with applying a controller image using the Image Area in which the Do Not Restart Controller option was not allowed for some RMC150 controllers even when it should have been.
Fixed a problem with applying a controller image using the Image Area in which persistent curves were not properly loaded when the Do Not Restart Controller option was selected.

RMC150 Firmware 3.59.0 (June 17, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for user-specified engineering units.
[Requires RMCTools 3.59.0 or newer]

Bugs Fixed:

Fixed a case where the position simulator could get stuck at the transducer limits. This required turning the simulator off and back on to recover.
Fixed a case in which the Direct Output status bit would not be set when a Direct Output Halt is triggered after the axis is already halted by an Open Loop Halt.

RMC150 Firmware 3.58.0 (April 9, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added two new commands:
[Both require RMCTools 3.58.0 or newer]

Track Position (57)

Continuously tracks the specified master register. The axis position is limited by the positive and negative travel limits, and the specified velocity, acceleration, and jerk limits.

Track Position (I-PD) (58)

Continuously tracks the specified master register. The axis will be controlled using the I-PD algorithm. The axis position is limited by the positive and negative travel limits and the specified velocity.

Bugs Fixed:

Fixed a problem in which updating the Model-based filter did not work properly when the axis had a non-zero Output Bias or Deadband.

RMC150 Firmware 3.56.3 (February 14, 2014)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Relaxed the requirements on the EtherNet/IP connection path when no configuration data is sent as part of establishing an I/O connection. This improves compatibility with other vendor's EtherNet/IP masters.
Reduced the amount of time required between closing and re-opening a Mitsubishi Procedure Exist connection when the identical client TCP port number is re-used. This time was reduced from 120 seconds to 1 second.
Fixed an issue in which the Advanced Gear Move could prematurely indicate that the Master Register had exceeded the initial or final position and require a new command to be issued too early.

RMC150 Firmware 3.56.2 (September 19, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Improved the accuracy of the Sine Move during logarithmic ramping of the frequency when using low frequencies (on the order of 0.001 Hz).

RMC150 Firmware 3.56.1 (September 3, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which changing the state of Discrete Outputs using both the Set/Clear/Toggle Discrete Output commands and assignment expressions could cause some state changes to be lost.
Fixed a problem in which the RMC would retransmit TCP packets prematurely in certain circumstances. This did not directly cause communication problems, but caused unnecessary network traffic.

RMC150 Firmware 3.56.0 (August 6, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added the new Change Master (79) command, which is used to change the Master Register of a Curve Interpolation in progress. For example, the master axis used to interpolate through a curve can be changed partway through the interpolation.
[Requires RMCTools 3.56.0 or newer]
Added a Truncate and Exit Curve (+8) Endpoint Behavior option to the Curve Start Advanced (88) and Curve Start Advanced (Prs/Frc) (89) commands. This option is used to ensure that the curve fully exits when the end is reached and does not resume if the master backs up.

RMC150 Firmware 3.55.0 (June 27, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added the ability to access individual Status Plot Upload Area registers in user programs.
The Lock IP Settings (no changes over Ethernet) option will now lock out changes requested by the PROFINET protocol. Previously these changes were allowed.
Added new Event Log entries related to the IP address settings being changed over EtherNet/IP or PROFINET. This helps track down cases where the IP address changes unexpectedly to the user.
[Requires RMCTools 3.55.0 or newer]
Minor changes to EtherNet/IP error handling.

RMC150 Firmware 3.54.0 (March 15, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for Custom Feedback.
[Requires RMCTools 3.54.0 or newer]
Added two new axis status bits: Feedback OK and Prs/Frc/Acc Feedback OK. These new status bits can be used to determine the non-latched state of the feedback, which is especially useful when using the new Custom Feedback feature.
[Requires RMCTools 3.54.0 or newer]
The Input Estimated status bit will now remain set for two loop times longer when recovering from a position feedback error, since the Error Bits cannot be cleared during those loop times. This simplifies writing recovery logic in user programs.
Minor changes to EtherNet/IP error handling.

RMC150 Firmware 3.53.4 (February 12, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the target profile generated by a Quick Move or Stop command or by a Closed Loop Halt could overshoot the final stop position. The behavior now returns to as it was in 3.41.0.

RMC150 Firmware 3.53.3 (February 7, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem introduced in the 3.53.2 firmware release where issuing a Pressure/Force Control command when already in Pressure/Force Control could cause the Target Pressure/Force to freeze.

RMC150 Firmware 3.53.2 (January 17, 2013)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a new Control Behavior parameter to the Hold Current Position (5) command. This provides the user with an alternate control behavior when this command is processed. This alternative is particularly useful when position feedback is noisy or when the Target Position is changing by a large amount.
[Requires RMCTools 3.53.2 or newer]

RMC150 Firmware 3.53.1 (December 18, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

No changes. Firmware revision updated to match changes made in the RMC70 products.

RMC150 Firmware 3.53.0 (December 7, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed several minor problems with handling EtherNet/IP error conditions.

RMC150 Firmware 3.52.0 (August 15, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Improved efficiency of issuing commands to a group of axes based an expression, which is a new feature as of RMCTools 3.52.0.

Bugs Fixed:

Fixed a regression introduced in 3.50.0 firmware in which pausing the Event Log Monitor in RMCTools would not work in some cases when new Event Log items are being reported quickly.

RMC150 Firmware 3.51.2 (July 24, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Updated the EtherNet/IP EDS files embedded in the controller to match the latest released EDS file.

Bugs Fixed:

Fixed a problem in which, for absolute rotary SSI and Resolver inputs, the least-significant-bit (LSB) of the Counts was backwards when the Position Unwind parameter was negative. As a result the Actual Position would appear to have noise on it.

RMC150 Firmware 3.51.1 (July 5, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the Target Position could jump slightly when transitioning from Open Loop to Closed Loop control during a Quick Move. This could contribute to a slight bump in the Control Output during the transition.
Fixed a problem in which the RMC could unexpectedly close TCP connections in rare cases for the following protocols: DMCP, CSP, EtherNet/IP, Mitsubishi Procedure Exist, and Modbus/TCP. This can happen if the requests made to the RMC are split into multiple packets by the sender.

RMC150 Firmware 3.51.0 (June 4, 2012)

Bugs Fixed:

Fixed a problem where using the output from a Quad module but not the input resulted in the state of the Fault Input associated with that output being reversed.

RMC150 Firmware 3.50.1 (April 30, 2012)

Bugs Fixed:

Fixed a case where downloading axis parameters could incorrectly require that the axis be in Direct Output mode. This was related to SSI settings, and would only occur when certain setting combinations were selected, including when Gray Code was selected. This error was introduced in 3.37.0 firmware.

RMC150 Firmware 3.50.0 (March 26, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Reduced the length of the RMC's DHCP responses. This was necessary for compatibility with certain DHCP servers.
Removed validation from unused Resolver parameters on Resolver (RW) modules.

Bugs Fixed:

Fixed a case where RMCTools would be unable to view the Event Log in some rare cases where the Event Log had received over 2 billion entries.
Minor correction to validation of EtherNet/IP's Get_Attribute_Single and Set_Attribute_Single services.

RMC150 Firmware 3.45.0 (January 6, 2012)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for the Resolver (RW) module. This is a variant on the existing Resolver (R) module that is compatible with different types of resolver transducers.
[Requires RMCTools 3.45.0 or newer]

RMC150 Firmware 3.44.2 (December 21, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed an issue where the RMC could stop communicating over Ethernet and require a power cycle to resume communications.
Fixed an issue where the RMC would record a Carrier Sense error on startup, which could be seen in the Communication Statistics.
Fixed an issue where event log entries can be corrupted in rare cases when read by RMCTools.

RMC150 Firmware 3.44.1 (November 11, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Improved validation of extremely large requested positions (such as 1e+18) on rotary axes, including fixing a case where issuing certain move commands with an extremely large position could cause a major fault.
Reduced the likelihood of an Overtravel Limit being triggered unnecessarily due to round off errors in the target generation. The target position is now allowed to exceed the limits by up to one half of a transducer count.

RMC150 Firmware 3.44.0 (October 24, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for new Pressure/Force Limit modes: Negative and Bi-directional. Also, the Set Prs/Frc Limit Mode (40) command option Enabled was renamed to Positive.
[Requires RMCTools 3.44.0 or newer]
The Pressure/Force Orientation parameter can now be changed without disabling the axis. However, the axis cannot be in Pressure/Force Limit or Control mode when this setting is changed.
The Move Absolute (I-PD) (28), Move Relative (I-PD) (29), and Move Velocity (I-PD) (38) commands will now automatically transition into the I-PD control mode. Therefore, the Set Pos/Vel Ctrl Mode (68) command is not required to switch into and out of I-PD mode if these commands are used.
Improved the target generation in the case where axes doing a synchronized move are commanded to move in the other direction. The axes now stop using the current sync ratio and then move to the newly-requested positions using a new sync ratio.

Bugs Fixed:

Fixed two cases in which issuing a move command to an axis while it is decelerating to a position could cause the axis to overshoot its final position unnecessarily.
Fixed a case where issuing Sync Move commands to some, but not all, axes in an established sync group that was currently moving could result in a step jump in the target position.
Fixed a problem in which the Change Target Parameter (80/81) commands did not correctly ramp the Amplitude and Offset target parameters when using the Cycles ramp type if the frequency was not constant. This command is only used in conjunction with the Sine Start (72/76) commands.
Fixed a problem in which reading 125 holding registers at once over Modbus/TCP could cause the protocol to stop working. This is an unlikely scenario in actual applications since the RMC registers are 32-bit and occupy two holding registers each. Therefore, applications typically only read even numbers of holding registers.

RMC150 Firmware 3.43.0 (September 9, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for user program Copy Protection. When enabled, this feature prevents unauthorized users from uploading the user programming.
[Requires RMCTools 3.43.0 or newer]

Bugs Fixed:

Fixed a case where re-issuing the same Move Absolute or Move Relative command but with a slightly shorter final position could cause the motion profile to have an acceleration discontinuity and to potentially overshoot the original final position.

RMC150 Firmware 3.42.0 (July 15, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Improved recovery from a major controller fault. If the controller must be restarted due to a major fault, this event is now logged in the Event Log, and the Controller LED will flash red/green for 10 seconds after restart to visually indicate the problem. Status bits have also been added to the Controller Status register to indicate the condition. Notice that these changes require that an updated Loader be installed, otherwise, major controller faults will require cycling power to the controller to recover the controller.
[Requires RMC150 Loader 1.08 or newer]
Reduced the assumed count resolution in certain situations. This affects axes with analog feedback or that use the position filter or pressure/force filter parameters. The effect is that these axes have finer grained control when the position/pressure/force error is very small.

Bugs Fixed:

Fixed a situation where if an RMC has been running for days to months without a reset, then the absolute controller time for the plot may be shown incorrectly.

RMC150 Firmware 3.41.1 (June 7, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a case where re-issuing the same Move Absolute, Move Relative, Stop, Sync Move, or Sync Stop command could cause the motion profile to have an acceleration discontinuity and to potentially overshoot the original final position.
Fixed a case where issuing a Stop or Sync Stop command while a point-to-point S-curve profile is stopping using the same specified deceleration rate could cause the motion profile to overshoot the final position.
Fixed a case where re-issuing the same Move Velocity command could cause the motion profile to have an acceleration discontinuity.
Fixed a case where issuing a Stop command while a velocity move is stopping with the same deceleration rate could cause an acceleration discontinuity.
Fixed a problem in which, on the RMC75S and RMC75P, an error with the FILL function (added in 3.40.0 firmware) could be incorrectly reported as an error with the COPY function.

RMC150 Firmware 3.41.0 (April 27, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

The RMC150E now uses DHCP instead of BOOTP as its default method of obtaining an IP address. This does not affect controllers that already have an IP address set.
The RMC150E now disables the Ethernet Auto-MDIX (auto-crossover) feature when Ethernet auto negotiation is disabled. Previously there was no way to disable Auto-MDIX. Both Auto-MDIX and auto negotiation are still enabled by default.
Made a number of improvements to the EtherNet/IP support. The EtherNet/IP Identity object now uses version 2.1. The following list highlights changes made to the EtherNet/IP feature set:
1. Added the QoS Object, which introduces DSCP priority values and allows 802.1D/Q priority tagging to be selected.
2. Improved support for IP Address Conflict Detection.
3. Added a complete embedded EDS file and icon.
4. Added support for Input Only and Listen Only connection points.
5. Changes to the multicast TTL and address range settings now take effect immediately.
6. Various improvements to comply the current version of the EtherNet/IP specifications.

Bugs Fixed:

Fixed a problem in which an error with the FILL function (added in 3.40.0 firmware) could be incorrectly reported as an error with the COPY function.

RMC150 Firmware 3.40.2 (March 28, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which issuing a Closed Loop Halt (1) command to a reference input axis would fault the controller.

RMC150 Firmware 3.40.1 (March 10, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem affecting RMC150 controllers running 3.38.0 or newer firmware in which attempting to back up firmware as part of updating firmware would fail. Also, it was possible that after re- starting a controller with a very large user program saved to flash that the image could not be properly uploaded into RMCTools.

RMC150 Firmware 3.40.0 (February 22, 2011)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for User Functions. This feature allows multi-line expressions to be packaged within re-usable user functions.
[Requires RMCTools 3.40.0 or newer]
Added support for declaring step-local variables. This allows local variables to be defined only in the step instead of requiring them to be added to the global Variable Table.
[Requires RMCTools 3.40.0 or newer]
Added support for Single-Point Valve Linearization.
[Requires RMCTools 3.40.0 or newer]
Added support for the new Stop (Open Loop) (22) command.
[Requires RMCTools 3.40.0 or newer]
Doubled the storage capacity for user programming on the RMC150.
[Requires RMCTools 3.40.0 or newer]
Added support for the following new functions:
[All require RMCTools 3.40.0 or newer unless otherwise noted]

CEIL(a)

Rounds a to the next greater (most positive) integer. Takes a REAL data type. Returns a REAL data type.

FLOOR(a)

Rounds a to the next lesser (most negative) integer. Takes a REAL data type. Returns a REAL data type.

ROUND(a)

ROUND(a,n)

Rounds a to the specified number of digits. n can be between -6 and +6. If n is not provided, then a is rounded to an integer, as though n was 0. Takes a as a REAL data type and n as a DINT. Returns a REAL data type.

MROUND(number,multiple)

Rounds number to the desired multiple, away from zero if dividing gives a remainder greater than or equal to half the value of the multiple. Takes number and multiple as REAL data types. Returns a REAL data type.

TRUNC_REAL(a)

Rounds a to an integer towards zero. Takes a REAL data type. Returns a REAL data type.

SIGNUM(a)

Returns -1 if a is negative, +1 if a is positive, and 0 if a is zero. Takes REAL or DINT. The return type matches the input parameter type.

CRV_EXISTS(id)

Returns True if a curve exists with the specified id. Otherwise returns False. Takes a DINT data type. Returns a BOOL data type.

FILL(to, value, len)

Sets length registers starting at the to address to the specified value (value). Typically used to fill an array with values. A maximum of 32 registers can be filled.
[Requires RMCTools 3.41.0 or newer.]

Bugs Fixed:

Fixed a problem in which curves could not be properly added with Curve IDs greater than 32,767.
Fixed a problem in which the Advanced Gear Move command could fault prematurely when the master axis moved outside its expected range.
Fixed a problem in which the simulator for absolute linear SSI axes would behave incorrectly if the Count Offset axis parameter was non-zero.
Fixed a problem in which updating flash could cause communications to be lost in some cases.

RMC150 Firmware 3.39.1 (December 3, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Updated PROFINET IO to pass PROFINET certification testing.
[Requires RMCTools 3.39.2 or newer]
Added the following new functions for accessing curves:
[Requires RMCTools 3.39.2 or newer]

CRV_FIRST_X(id)

Returns the x value for the first point in the curve with the specified id.

CRV_LAST_X(id)

Returns the x value for the last point in the curve with the specified id.

CRV_INTERP_Y(id,x,[options])

Interpolates the curve with the specified id at the given value of x, and returns the Y value of the curve at that point. The optional options parameter determines the behavior beyond the endpoints of the curve.

CRV_INTERP_V(id,x,[options])

Interpolates the curve with the specified id at the given value of x, and returns the V (velocity) value of the curve at that point. The optional options parameter determines the behavior beyond the endpoints of the curve.

CRV_INTERP_A(id,x,[options])

Interpolates the curve with the specified id at the given value of x, and returns the A (acceleration) value of the curve at that point. The optional options parameter determines the behavior beyond the endpoints of the curve.

Bugs Fixed:

Fixed an issue where the Curve Start Advanced command's Extrapolate endpoint behavior option did not work properly for curves with the Linear interpolation type.

RMC150 Firmware 3.39.0 (October 29, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added PROFINET IO support. Notice that the product has not yet been submitted for PROFINET certification, and as such should not be used in final applications.
[Requires RMCTools 3.39.0 or newer]
Added an option to EtherNet/IP in which the Sync Register is not used.
[Requires RMCTools 3.39.0 or newer]
Changes to the EtherNet/IP Consumer and Producer addresses now take effect immediately instead of waiting for the I/O connection to be re-established.
Cyclic curves can now have different starting and ending positions.
[Requires RMCTools 3.39.0 or newer]

RMC150 Firmware 3.38.0 (July 30, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for upload and downloading curves from the Curve Tool.
[Requires RMCTools 3.38.0 or newer]
For the Curve Add (82) command, the new value Permanent (3) was added to the Life Cycle parameter. Curves with this Life Cycle type are saved to flash when the flash is updated and are included in the Image Upload/Download Area. Curves downloaded from the Curve Tool always have a 'Permanent' Life Cycle.
Increased the maximum non-volatile (flash) data storage size from 256KB to 1MB.
Changed the Net LED behavior to match the current EtherNet/IP specification, which clarified the Net LED behavior in its 1.8 revision.
Added support for Type 0 Pressure/Force model parameters.

Bugs Fixed:

Corrected the processor name returned on DF1 over Ethernet (CSP) to say 'RMC150'.
Fixed a problem in which the RMC150 controller could restart into the loader if the Resolver frequency or amplitude parameters were changed for a module that had one axes (instead of the normal two axes) defined.
Fixed a problem in which in rare cases, error messages regarding model-based filtering could show up in the Event Log for an axis whose filter type was set to 'Low Pass'.

RMC150 Firmware 3.37.0 (May 14, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for the Universal I/O module.
[Requires RMCTools 3.37.0 or newer]
Changed the default starting address for the Consumed EtherNet/IP I/O data from the Command Area (%MD40.0) to the middle of the Indirect Data Map (%MD42.128).

Bugs Fixed:

Fixed a problem in which setting the logging detail level for EtherNet/IP I/O to 'All' did not log all data changes.

RMC150 Firmware 3.36.2 (April 6, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem introduced by the 3.36.1 firmware update in which the RMC70/150 could stop receiving Ethernet packets in other situations.

RMC150 Firmware 3.36.1 (March 27, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a case where the RMC70/150 could stop receiving Ethernet packets in an environment with very specific broadcast traffic.

RMC150 Firmware 3.36.0 (February 12, 2010)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for Outer Loop axes, for use in cascading control loops.
[Requires RMCTools 3.36.0 or newer]
Changed the behavior of the Output Filter axis parameter slightly with respect to Pressure/Force control. Prior to this release, the Output Filter parameter applied to all types of closed loop control, including Position, Velocity, Pressure, and Force. With this release, the existing Output Filter parameter has been renamed Position/Velocity Output Filter and no longer applies to Pressure/Force control. Instead a new Pressure/Force Output Filter parameter was added which applies only to Pressure/Force control.
[Requires RMCTools 3.36.0 or newer to use the new parameter]
Added new axis parameters to axes with Pressure/Force control to hold the current system model, which is used by the Pressure/Force Tuning Wizard in RMCTools.
[Requires RMCTools 3.36.0 or newer to use these new parameters]
Added support for the 4ms loop time on MDT modules revision 7 or newer.
[Requires RMCTools 3.36.0 or newer]
Added support for selecting the blanking period on RMC150 MDT inputs to be either 5us or 21us. Previously, the blanking period was fixed at 5us, which remains the default.
[Requires RMCTools 3.36.0 or newer to change]

Bugs Fixed:

Fixed detection of MDT Transducer Overflow error conditions at the 250us and 500us loop times. This fix requires revision 7 or newer MDT cards.

RMC150 Firmware 3.35.0 (November 12, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a new Direction parameter to the Transition Rate (56) command. This makes the command more flexible on rotary axes.
[Requires RMCTools 3.35.0 or newer]
The following commands now accept a Requested Speed parameter of the value zero (0):

Move Absolute (20)

Move Relative (21)

Ramp Pressure/Force (Rate) (18)

Move Absolute (I-PD) (28)

Move Relative (I-PD) (29)

Bugs Fixed:

Fixed a problem where there could be a discontinuity in the Target Position when using a Transition with a sine or curve move, if the sine or curve completed prior to the transition completing.
Fixed an issue in which for Velocity Inputs (such as tachometer feedback), the Velocity and Acceleration Filter Type parameters could not be set to Low Pass.
Fixed an issue in which for Velocity Inputs (such as tachometer feedback), the Noise Error Rate parameter was compared directly the current Actual Velocity rather than the change in Actual Velocity from one control loop to the next.

RMC150 Firmware 3.34.0 (September 30, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added the Image Area, used to back up, restore, and copy complete controller images.
Added support for the following mathematical functions in User Program expressions: SINH, COSH, and TANH.
[RMCTools 3.34.0 or newer is required to enter these functions.]
The EtherNet/IP Identity object now reports the product version version as 1.2. This reflects the changes made to the EtherNet/IP Ethernet Link object made in firmware release 3.32.0.
Changed the default value for the Count Unwind axis parameter from 1000 to 1024. This ensures that it is a valid value even for SSI absolute rotary axes, but should not otherwse affect any users since this value must be set up prior to using rotary axis feedback.
For linear axes, removed limitations on acceptable values for the Direction parameter on many move commands, including Move Absolute (20). Previously only Nearest (0) was accepted. However, this could make it difficult to re-use some User Programs on both linear and rotary axes. Therefore, for the affected commands, all Direction options that are available on rotary axes are now accepted on linear axes, with all values being handled the same.

Bugs Fixed:

Fixed a case where the IP settings for an RMC150E could be changed through the RMCTools browse window, even if the settings were locked.
Fixed several minor issues to conform with version 1.7 of the EtherNet/IP specification.
Fixed a problem in which the Open Loop Absolute (11) command could generate the wrong Control Output voltage in some rare cases.

RMC150 Firmware 3.33.1 (August 17, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which an Internal Target Generator Fault could occur when re-issuing point-to-point move commands in some rare cases.

RMC150 Firmware 3.33.0 (June 3, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

The RMC150 now supports a loop time of 4ms.
[Requires RMC150 CPU revision 1.1C or 1.2C or newer. Revisions 1.0A, 1.1A, 1.1B, 1.2A, and 1.2B do not support this loop time.]

[Requires RMCTools 3.33.0 or newer]

Bugs Fixed:

Fixed a problem in which the default plot sample period was set to 0 seconds. This problem was introduced in 3.32.0 firmware.

RMC150 Firmware 3.32.0 (April 23, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Increased the size of the Indirect Data Map from 128 to 256 registers.
[Requires RMCTools 3.32.0 or newer]
We no longer log RMCTools Ethernet traffic by default when all Ethernet transactions are enabled.
[Requires RMCTools 3.32.0 or newer]
Short point-to-point moves are now smoother, following the Requested Jerk axis parameter.
Point-to-point moves as short as one-half feedback count are now allowed. Previously, moves shorter than 0.0005 position units were stepped immediately to the setpoint.
Improved data consistency guarantees for consumed EtherNet/IP I/O data.
Upgraded EtherNet/IP's Ethernet Link object to Revision 3 (included four new attributes).

Bugs Fixed:

Fixed a problem where the default plot length was 1 loop time for plots 2-7.
Fixed a problem in which MDT feedback was noisy when the return pulse takes longer than one control loop.

RMC150 Firmware 3.31.2 (March 6, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem with the PROFIBUS module in which changing the PROFIBUS mode with an online controller could cause the PROFIBUS connection to fail to re-connect without restarting the controller.

RMC150 Firmware 3.31.1 (March 4, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem introduced in the 3.31.0 firmware in which controllers did not show up in the RMCTools Ethernet browse selection.
Fixed a problem in which some extra bits were set in the Input Bits register for the Communication DI/O module.

RMC150 Firmware 3.31.0 (February 25, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a new Pause/Resume Log command:
[RMCTools 3.31.0 or newer required to issue these commands from RMCTools]

Pause/Resume Log (95)

Use this command to pause and resume the Event Log capturing. This makes the Event Log more powerful, especially when tracking down evasive problems.
Added support for controlling which programs can be run on which tasks.
[Requires RMCTools 3.31.0 or newer]
Added support for a new COPY function in expressions.
[Requires RMCTools 3.31.0 or newer]
Invalid inputs to numerical functions (SQRT, LN, LOG, ASIN, and ACOS) and operators (/ and MOD) in expressions are now caught and fault the offending task.
Axes are no longer required to be stopped at the start of a Synchronized Move command. However, notice that this may cause a step jump one or more axes' velocities.
Changing the final position of an in-progress Synchronized Move is now supported. However, notice that this may cause a step jump one or more axes' velocities.
Added support for the DMCP/UDP and DMCP/TCP protocols over Ethernet.

Bugs Fixed:

Fixed two minor EtherNet/IP issues found by the latest EtherNet/IP conformance tests.
Fixed a problem in which the ROL and ROR functions did not function properly in expressions.

RMC150 Firmware 3.30.4 (January 8, 2009)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

An entry is now added to the Event Log if the control loop cannot be completed in the requested loop time.

Bugs Fixed:

Fixed a problem in which it was possible to occasionally have writes to the NVRAM fail.
Fixed a problem in which an Internal Target Generator Fault could occur in rare cases with the Quick Move command.

RMC150 Firmware 3.30.3 (November 5, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Enhanced implementation of Allen-Bradley CIP and CSP protocols to be compatible with Wonderware device drivers, which utilize undocumented functionality.

RMC150 Firmware 3.30.2 (October 24, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

In the Curve Start Advanced (88) and Curve Start Advanced (P/F) (89) commands, added support using the Truncate endpoint behavior even when Relative Master Alignment is selected.

Bugs Fixed:

Fixed a problem in which entering RUN mode using a RUN/PROGRAM discrete input did not enable all axes.

RMC150 Firmware 3.30.1 (September 30, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which the Force Orientation setting was not taken into account when using Active Damping with force feedback.
Fixed a problem in Unidirectional Mode, in which the feed forward ratio was not applied correctly for moves in the negative direction.
Fixed a problem in Unidirectional Mode, switching control modes could cause the Integrator to be loaded with the wrong value.
Fixed a problem in which Unidirectional Mode could not be enabled for axes with only Pressure or Force feedback.
Fixed a problem with the Gear Velocity (Clutch by Time) (31) command when issued with position control in which the Target Position was not properly updated causing the Proportional and Integral Gains to have no effect.

RMC150 Firmware 3.30.0 (August 20, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for the new Resolver module.
[Requires RMCTools 3.30.0 or newer]
Added support for retentive variables.
[Requires RMCTools 3.30.0 or newer]
Added the ability to update firmware over Ethernet. This capability can be disabled using a new Ethernet setting.
[Requires RMCTools 3.30.0 or newer]
Removed the Home Source axis parameter from axes with SSI feedback. This parameter could only have one value ("None"), and therefore provided no value on the RMC150.
The algorithm for saving settings to flash now uses a double-buffered scheme which prevents the settings from reverting to defaults if the controller is powered off or restarted during a flash update.
Added a third level (patch) to the firmware version.

Bugs Fixed:

Fixed a problem in which it was possible to reset the IP settings to defaults over Ethernet using the Reset Controller to Defaults option in RMCTools even though the IP settings were set to be locked over Ethernet.

RMC150 Firmware 3.21 (May 30, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem in which issuing the Curve Start Advanced (88) command from a User Program would reset the controller.

RMC150 Firmware 3.20 (May 22, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added a new Feed Forward Adjust command:
[RMCTools 3.20.0 or newer required to issue these commands from RMCTools]

Feed Forward Adjust (69)

Issuing this command will immediately adjust the appropriate Velocity Feed Forward gain for the last constant-velocity move that was made. It can be used to simplify manual tuning or for automatically adjusting the system gain for minor changes in system dynamics.
Added Curve Start Advanced commands for position and pressure/force target profiles:
[RMCTools 3.20.0 or newer required to issue these commands from RMCTools]

Curve Start Advanced (88)

This command provides additional options not available with the existing Curve Start (86) command, including relative curve alignment, absolute master alignment, adjustable curve scale and offset, adjustable master scale and offset, and an optional status block.

Curve Start Advanced (Prs/Frc) (89)

This command provides additional options over the Curve Start (Prs/Frc) (87) command in the same way that Curve Start Advanced (88) does for a position target profile.
Added a new Unidirectional Mode option. This mode can be enabled to handle systems requiring a unipolar control output. Examples include unidirectional belts and hydraulic systems that use a flow control valve and, optionally, a separate direction valve. This mode provides the following new axis parameter register:
[Requires RMCTools 3.20.0 or newer to use this feature]

Unidirectional Mode (Fx:60/12-14)

This register is used to enable and disable Unidirectional Mode, select the default control direction, and to select whether the control direction should automatically be changed when the Target Velocity changes direction.

Additionally, some systems may use the following new command:

Set Control Direction (96)

This command is used in systems where the control direction changes during system operation, such as a hydraulic system with separate flow control and direction valves. When the direction valve is changed, the user can indicate the new direction to the RMC using this command. This command only affects axes with Unidirectional Mode enabled.

Bugs Fixed:

Fixed a problem in which the communication task could stop running if RMCTools attempted to read PROFIBUS communication statistics when no PROFIBUS module installed.

RMC150 Firmware 3.11 (May 8, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem introduced in the 2.70 firmware, which could cause jumps in the target profile when stopping a target profile moving in the negative direction. Specifically, the following cases were subject to this problem:
1. Stopping an axis in position control using a Stop (6) command or a Closed Loop Halt, provided the axis was moving in the negative direction and had a zero Requested Jerk axis parameter.
2. Using a Quick Move (15/16) command to move in the negative direction, provided the axis had a zero Requested Jerk axis parameter.
3. Stopping a pressure/force target profile using the Stop Pressure/Force (43) command, provided the target pressure/force was currently decreasing, and the Pressure/Force Accel Rate command parameter was non-zero.
Fixed a problem in which stopping a velocity control move using either a Stop (6) command or a Closed Loop Halt could cause only a temporary stop, with the axis ramping back up to a non-zero velocity. This would occur if the Requested Jerk parameter was zero.

RMC150 Firmware 3.10 (May 1, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for the PROFIBUS communication module.
[Requires RMCTools 3.10.0 or newer]
Added additional communication statistics for Ethernet.
[Requires RMCTools 3.10.0 or newer to view]

RMC150 Firmware 3.01 (April 30, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

Bugs Fixed:

Fixed a problem where the RMC150E could be significantly delayed in receiving an Ethernet packet from time to time. This typically occurred in high-speed Ethernet applications.

RMC150 Firmware 3.00 (April 2, 2008)

NOTE: Requires RMCTools 3.00.0 or newer.

New or Enhanced Features:

Added support for Programming Security.
Added new Synchronized Motion commands:

Sync Move Absolute (13)

By issuing this command to two or more axes, the axes will move from stop to the commanded positions such that the axes profiles are ratioed throughout the move and none of the axes exceed the command parameters.

Sync Move Relative (14)

Same as Sync Move Absolute (13), but allows specifying the command position relative to the current axis position.

Sync Stop (17)

This command will stop all axes in the specified sync group such that all axes in the group retain their ratioed move until stopped.
Increased the acceptable range for the Halt Group axis parameter to 0-8, with zero (0) still meaning not grouped.
Improved the handling of halt groups with respect to issuing commands at the same time when one or more axes have a command error. The RMC now ensures that none of the axes in the halt group start moving if any axes in the halt group had a command error.

RMC150 Firmware 2.71 (March 20, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

Fixed a regression introduced in 2.70 in which issuing either a Gear Pos (Time) or Gear Vel (Time) command would reset the controller into the loader.

RMC150 Firmware 2.70 (March 5, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Added two new commands for absolutely tracking a master axis or register:
[RMCTools 2.70.0 or newer required to issue these commands from RMCTools]

Gear Absolute (25)

The commanded axis will be geared absolutely over a specified range with the master register. The master register will most often be the Target or Actual Position of another control or reference axis.

Gear Absolute (Prs/Frc) (59)

The commanded axis's Pressure/Force target will be geared absolutely over a specified range with the master register. The master register will most often be the Target or Actual Pressure or Force of another control or reference axis.
Added new Transition commands. These commands allow an axis to transition into a curve, sine move, or absolute gearing, when the axis is not already at the correct starting location:
[RMCTools 2.70.0 or newer required to issue these commands from RMCTools]

Transition Disable (55)

Disables automatic position transitions on this axis.

Transition Rate (56)

Enabled automatic rate-based position transitions on this axis. The parameters to use for the transition are specified as command parameters.

Transition Disable (Prs/Frc) (63)

Disables automatic pressure/force transitions on this axis.

Transition Rate (Prs/Frc) (64)

Enabled automatic rate-based pressure/force transitions on this axis.
Added two new rate-based pressure/force commands:
[RMCTools 2.70.0 or newer required to issue these commands from RMCTools]

Ramp Pressure/Force (Rate) (18)

Ramps the current pressure/force to the specified setpointusing the specified rate and, optionally, acceleration.

Enter Pressure/Force Control (Rate) (46)

Enters Pressure/Force control at the current actual pressure/force and ramps to the requested pressure/force setpoint using the specified rate and, optionally, acceleration.
Added a new command to adjust the integrator:
[RMCTools 2.70.0 or newer required to issue this command from RMCTools]

Integrator Adjust (70)

Sets the Integral Output term to the specified value. This can be used on advanced control applications when the integral output needs to be cleared in some cases.
Added a new "Integral Preload" command parameter to the following commands:
[RMCTools 2.70.0 or newer required to use this new parameter from RMCTools]

Hold Current Pressure/Force (19)

Enter Pressure/Force Control (Auto) (44)

Enter Pressure/Force Control (Time) (45)

This parameter can be used to optimize the transition from other control modes into Pressure/Force Control.

Notice that the new Enter Pressure/Force Control (Rate) (46) command also has an "Integrator Preload" parameter.
Added additional options when restarting the controller remotely. This is necessary to be able to change the control loop time or axis definitions over RMCLink or programmatically from within a User Program.
Added additional Event Log entries on startup when the saved axis definitions are not valid for the current hardware configuration. This can occur when axis modules are moved or removed in the RMC150.
[RMCTools 2.70.0 or newer required to view these entries]
Added a new axis status register:
[RMCTools 2.70.0 or newer required to view this register in RMCTools]

Target Pressure/Force Rate (F8:63, F9:63, ...)

This register shows the current rate of change for the Target Pressure/Force of the axis.
Added a new "Pressure/Force Accel Rate" parameter to the Stop Pressure/ Force (43) command. The default value of zero (0) matches previous firmware behavior. The behavior of the At Pressure/Force status bit and the Command Pressure/Force status register also changes with this command.
[RMCTools 2.70.0 or newer required to use this new parameter from RMCTools]

Bugs Fixed:

Fixed a problem in which the Primary Target Generator Done status bit came on prematurely for the Quick Move commands.
Fixed a problem in which the Gear Pos (Clutch by Distance) (32) command did not clutch properly when a negative gear ratio was used.

RMC150 Firmware 2.62 (February 13, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

Fixed a problem in which manually writing to the Axis Definition registers did not work properly. This did not affect changing axis definitions using the RMCTools Axis Definitions tool.
Fixed a problem in which feed forwards were calculated incorrectly for curves when geared to an arbitrary register. This did not affect curves geared to an axis or non-geared curves.

RMC150 Firmware 2.61 (February 7, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Changed how the Pressure/Force integrator is initialized when the controller enters Pressure/Force Control mode. The integrator is now cleared on the transition.
WARNING: Upgrading from 2.50 or 2.60 firmware to 2.61 or later firmware *will* change the behavior of Pressure/Force Control transitions. We feel this change is for the better, but please be aware of the change, and contact Delta technical support if you have questions before updating your firmware.

Bugs Fixed:

Fixed a problem in which the Pressure/Force integrator would be set to non-zero values when enabling Pressure/Force Limit. This problem was introduced in 2.50 firmware.
WARNING: Upgrading from 2.50 or 2.60 firmware to 2.61 or later firmware *will* change the behavior of Pressure/Force Limit mode. We feel this change is for the better, and returns to 2.40 and earlier behavior. However, please be aware of the change, and contact Delta technical support if you have questions before updating your firmware.

RMC150 Firmware 2.60 (January 18, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

No changes. Firmware revision updated to match changes made in the RMC70 products.

RMC150 Firmware 2.50 (December 14, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Added support for Pressure/Force Control mode. In this new mode, an axis controls solely based on the Pressure/Force feedback, complementing our existing Pressure/Force Limit mode. This mode is entered using the following new commands:
[RMCTools 2.50.0 or newer required to issue commands from RMCTools]

Hold Current Pressure/Force (19)

Enters Pressure/Force control mode and holds the current pressure or force.

Enter Pressure/Force Control (Auto) (44)

Enters Pressure/Force control mode, and ramps the pressure/force from its current value and rate to the requested pressure/force setpoint. The ramp rate is determined automatically based on the current rate and distance to the setpoint. Both linear and S-curve ramps are supported.

Enter Pressure/Force Control (Time) (45)

Enters Pressure/Force control mode, and ramps the pressure/force from its current value and rate to the requested pressure/force setpoint over the specified time. Both linear and S-curve ramps are supported.

Bugs Fixed:

Improved transitions when switching between some control modes.
Fixed a problem where some control status registers were not set to zero when unused.

RMC150 Firmware 2.40 (November 21, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Added support for new curve/spline/cam commands:
[RMCTools 2.40.0 or newer required to issue from RMCTools]

Curve Add (82)

Add one or more curves to the controller.

Curve Delete (83)

Delete all curves in the controller in the specified range.

Curve Delete Except (84)

Delete all curves in the controller except for the specified range.

Curve Delete All (85)

Delete all curves in the controller.

Curve Start (86)

Start a curve or curve position move.

Curve Start (Pressure/Force) (87)

Start a curve or curve pressure/force move.
Added support for rotary virtual axes.
Expanded the acceptable range for the Output Filter parameter to include values down to 0.01 Hz.

RMC150 Firmware 2.32 (November 19, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

Fixed a problem in which using the Deadband Eliminator on pressure/force control axes could cause the controller to reset.

RMC150 Firmware 2.31 (October 24, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

Fixed a problem in which attempting to read a plot using the Static or Dynamic Plot Upload Areas could yield unexpected plot values or restart the controller if the plot had been stopped using the Stop Plot command while the capture was in progress.

RMC150 Firmware 2.30 (September 25, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Added support for new sine commands:
[RMCTools 2.30.0 or newer required to issue from RMCTools]

Sine Start (72)

Starts a sinusoidal position move.

Sine Stop (73)

Stops an in-progress sinusoidal position move at the top, bottom, or middle of the sine move.

Sine Start (Pressure/Force) (76)

Starts a sinusoidal pressure/force move.

Sine Stop (Pressure/Force) (77)

Stops an in-progress sinusoidal pressure/force move at the top, bottom, or middle of the sine move.

Change Target Parameter (80)

Allow changing an in-progress sinusoidal position move's parameters, including the frequency, amplitude, offset ,and the total number of cycles.

Change Target Parameter (Pressure/Force) (81)

Allow changing an in-progress sinusoidal pressure/force move's parameters, including the frequency, amplitude, offset ,and the total number of cycles.

Bugs Fixed:

Fixed a problem in the internal simulator where, for some rare cases, the simulated actual position could jump unexpected.

RMC150 Firmware 2.21 (September 6, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

Minor changes to achieve the EtherNet/IP Conformance Tested mark.
Fixed a couple of minor problems with handling errors on the Mitsubishi Ethernet protocol.

RMC150 Firmware 2.20 (August 23, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

Added support for EtherNet/IP I/O messaging.
Added an LED test to the startup of the controller.
Added additional communication statistics for EtherNet/IP and for internal CPU usage.

Bugs Fixed:

Fixed a problem where it was possible for the Flash Update to never complete after some Ethernet communication errors.

RMC150 Firmware 2.10 (July 26, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

The limit for available EtherNet/IP CIP connections was increased from 8 to 32.
Added support for the POLY function in expressions. This function provides an easy and efficient way to compute a polynomial.
Made the following improvements to the built-in simulator:
1. The simulator model now supports both 1st and 2nd order models.
2. The second order simulator model is now stable for higher frequencies and damping factors.
3. Force limiting at the simulator limits can now be disabled by selecting a Max Force of zero (0). In this case the simulator will stop abruptly at the limits.
4. Removed the Transducer Overflow error from simulated linear feedback. The feedback will be truncated at its limits with no error. This makes it easier to recover from overrange.
5. Limited the model parameters to prevent unstable simulator models.
The Model-based Position Filter can now be enabled for axes with a first order model.
Added two new options for the SSI module:
1. SSI wire break detection can now be optionally disabled.
2. The SSI clock rate can now be selected between 230 kHz and 921 kHz.
These options are only available on revision 6 or newer SSI modules.
We now log when the PreScan table is disabled.
The Set Pressure/Force Mode (40) command will no longer displace motion commands to the next control loop.
Improved the handling of task faults, such as array index out-of-range. All task errors will stop the task and log an error in the Event Log.

Bugs Fixed:

Fixed a problem in which the Trigger Plot (102) command would trigger the plot even if triggers were disabled. We now log an entry in the Event Log but otherwise ignore the command in this situation.
Several minor EtherNet/IP corrections, in preparation for certification:
1. Fixed a problem where the Ethernet speed could not be forced to 10 Mb/s using the Ethernet Link object.
2. Fixed several cases where the Fwd_Open error response was not built correctly.
3. Added support for the Get_Attribute_Single service on the Identity object, which is a required service.
4. Fixed a problem where there could be extra data at the end of the response to the Set_Attribute_Single service.
5. Fixed a problem with parsing some EtherNet/IP path segments.
6. Fixed a problem where there could be extra data at the end of a Message Router error response.
Corrected several problems when controlling with Pressure/Force limiting.
Corrected behavior of the expression logging filter.
Fixed a problem where some User Program storage space could be used up permanently by the Tuning Wizard.
Fixed a problem where re-establishing an Ethernet connection from some older Allen-Bradley PLC's could take over a minute in some cases.
Fixed a problem in which some controller error notifications to RMCTools were missed. This was introduced in version 2.00.

RMC150 Firmware 2.03 (July 12, 2007)

NOTE: Requires RMCTools 2.00.2 or newer.

Bugs Fixed:

Fixed a problem with how the Position Error is updated when a rotary axis is moving faster than the Noise Error Rate.

RMC150 Firmware 2.02 (July 9, 2007)

NOTE: Requires RMCTools 2.00.2 or newer.

Bugs Fixed:

Fixed a problem where, if the post-trigger capturing of a plot was stopped using a Stop Plot (101) command, the plot could not be viewed.
Optimized the command queue so that simple low priority commands can no longer displace motion commands to the next control loop.
Corrected the anti-hunting behavior of the integrator when controlling using the I-PD control algorithm. First, it is now enabled even when the Deadband Tolerance parameter is zero, using an implied tolerance of 1/2 position transducer count. Second, it now only prevents integrator wind-up, rather than freezing the integrator. And third, it is only active when the target position is stopped.
Fixed a problem in which immediate commands issued by a User Program to any axis other than the first were not issued correctly.
Fixed a problem with the Position and Velocity PID algorithms in which the integrator value could be incorrectly adjusted during saturation conditions.

RMC150 Firmware 2.01 (June 15, 2007)

NOTE: Requires RMCTools 2.00.2 or newer.

First official release.