----------------
Release 20090327
----------------
Improvement:
1. Improved the behavior of moves with time-based acceleration/deceleration
fields (mode 3) when the axis is already moving when the command is issued.
----------------
Release 20081008
----------------
Bug Fixes:
1. Fixed a problem in which the Reverse Drive option did not work properly
on Pressure/Force only axes.
----------------
Release 20080425
----------------
Improvement:
1. Rotary absolute encoders now use the scale factor, position, encoder offset
saved in flash on startup. If the flash is updated there is no need to do
'P' command to get the correct position. This avoids the need to go to
closed loop and back to open loop on those axes that are just references.
----------------
Release 20070307
----------------
New Features:
1. Added support for downloading firmware at higher baud rates.
2. Added support for two new advanced SSI feedback options.
[NOTE: Requires RMCWin 2.29.0 or newer.]
----------------
Release 20070205
----------------
Bug Fixes:
1. Fixed a when in which after changing the RMC configuration, it was possible
after reboot that the control output could go to 10V for a short period of
time during the boot process. Anyone using revision 20070130 should upgrade
to 20070205.
----------------
Release 20070130
----------------
Bug Fixes:
1. Fixed pressure force feed forward not working sometimes after ramp commands.
----------------
Release 20060504
----------------
Bug Fixes:
1. Fixed problem with press roll application where the heads don't think they
have passed the command position so they float.
2. Replaced openloop routine with one from the test directory. This was to fix
a bug having to do with rates changing while changing direction.
----------------
Release 20060216
----------------
New Features:
1. The LCD420 can now change some parameters on reference axes that are common
to a standard axis.
----------------
Release 20051228
----------------
New Features:
1. Processing splines downloaded using the PROFIBUS Message Mode is now faster
when using firmware with a 2 ms control loop.
2 Added a new Set/Reset Wait Flags command and a Test Wait Flags link type.
Flag 7 is special in that PROFIBUS downloads will clear this flag when done.
----------------
Release 20051219
----------------
New Features:
1. Added a feature whereby the CPU monitors the Ethernet and Serial
communication co-processors for a fault. It flashes the CPU LED if a fault
is detected. This requires Ethernet/Serial BOOT firmware dated 20051214 or
later.
----------------
Release 20051202
----------------
Bug Fixes:
1. Fixed a bug in which Analog -G axis positions were not set correctly after
a Set Parameters (P) command.
----------------
Release 20051012
----------------
New Features:
1. Added support for the new Resolver interface module.
----------------
Release 20050629
----------------
Bug Fixes:
1. The Set Pressure (^) command no longer enters pressure mode immediately
if the actual pressure is above the command pressure unless the PID is
pressure only.
----------------
Release 20050415
----------------
Bug Fixes:
1. The Quick Move was broken in Absolute Mode.
2. The Update Flash Segment (u) command did not update the spline flash.
----------------
Release 20050215
----------------
Bug Fixes:
1. Fixed a bug in which Velocity Control was broken in some situations
involving velocity feedback.
----------------
Release 20050106
----------------
Bug Fixes:
1. Fixed an issue in which running a Sine Move Continuous on an auxiliary
pressure axis while issuing Open Loop commands on the same auxiliary axis
had unpredictable results. Open Loop commands are no longer allowed on
auxiliary pressure axes when the axis is running a Sine Move Continuous.
2. Fixed an issue in which the status registers for synchronized axes could
stop getting updated after the move completes.
3. Fixed an issue in which the integrator may not be re-enabled after a halt.
--------------------------
Release 20041110/20041105X
--------------------------
Bug Fixes:
1. The Ref Dead Band parameter did not work correctly on Velocity Reference
axes.
2. Fixed a momentary drive spike that could occur when transitioning from open
to closed loop control. This was a regression introduced in the 20040818
firmware.
----------------
Release 20040902
----------------
Bug Fixes:
1. Fixed a problem where the errors in the status sometime not be properly
cleared after a Disable Drive (K) command.
----------------
Release 20040820
----------------
Bug Fixes:
1. Fixed a problem in which the first Pressure/Force axis would cause the rest
of the axes to erroneously show an error.
----------------
Release 20040818
----------------
Bug Fixes:
1. Fixed a problem where hard errors would clear themselves automatically.
----------------
Release 20040409
----------------
New or Enhanced Features:
1. Added a Sine Move Continuous (48) command.
----------------
Release 20040422
----------------
Bug Fixes:
1. Fixed problems with position wrapping that occurred on rotary axes when the
difference between the Target and Actual Positions was large.
----------------
Release 20040409
----------------
New or Enhanced Features:
1. Go (G) commands can now be issued to axes with Status Only feedback errors.
This is useful when analog input Transducer Overflow errors are set to
Status Only.
2. Improved MDT and SSI noise immunity and recovery.
3. Improved behavior of Deadband Eliminator when the error is less than the
In Position window.
Bug Fixes:
1. Fixed a bug in which Openloop (O) commands could be prevented after
receiving certain transducer errors.
----------------
Release 20031120
----------------
Bug Fixes:
1. Fixed a regression made in the last release (20031118), in which changing
pressure was not allowed.
----------------
Release 20031118
----------------
New or Enhanced Features:
1. The Map Output (0x7F) and Openloop (O) commands can now be issued to
Differential Force auxiliary axes.
----------------
Release 20031105
----------------
New or Enhanced Features:
1. Enhanced the Proportional Deadband Eliminator to let the integrator wind
down to the Null Drive parameter while within the In Position window. This
results in very smooth and intuitive Deadband Eliminator behavior.
2. Added support for mapping the target of an axis being controlled using I-PD
to a master axis. The target position follows the master axis plus an
optional offset when the gear bit is set. This feature is not documented
and subject to change. It should only be used under the direction of Delta
technical support.
----------------
Release 20030916
----------------
New or Enhanced Features:
1. Added the Skew on Following Error (0x7F) link type.
2. Added an Automatic Home Re-arm configuration bit for Quadrature Axes with
Analog outputs.
3. Added the ability to select between the standard immediate Deadband
Eliminator algorithm and a new proportional Deadband Eliminator. Most
applications that use the Deadband Eliminator will benefit from the new
proportional algorithm. However, the immediate algorithm is maintained for
backward compatibility.
4. The Set Feed Forward (F) command can now use constant velocity moves done
as part of a Synced Move in computing the Feed Forward. This simplifies
calculating Feed Forwards for systems with axes that must remain
synchronized.
5. Modified the Set Position/Pressure (c) command to set the Target Position
to the current Actual Position instead of holding it at the current Target
Position. This change was made based on customer demand.
6. Added support for controlling using the I-PD algorithm. This feature is
not documented and subject to change. It should only be used under the
direction of Delta technical support.
Bug Fixes:
1. Fixed a problem in which SSI rotary absolute encoders could power up with
their registration being off.
2. Fixed a problem in which CPU output 0 was left on in some Communication
DI/O applications even though an Auto Stop had taken place.
----------------
Release 20030516
----------------
New or Enhanced Features:
1. Added support for Speed Control with Velocity Loop. This is in addition
to the existing Speed Control with Position Loop.
2. Improved the back-off of pressure control when the axis reaches the command
position, such that it will back off quickly to the command pressure if the
target pressure is currently above the command pressure.
Bug Fixes:
1. Changed the default RMC-SERIAL parameters from Modbus/RTU, 9600 baud,
7 data bits, no parity, and 1 stop bit to Modbus/RTU, 9600 baud, 8 data
bits, even parity, and 1 stop bit. The previous default parity and data
bit count were invalid for Modbus/RTU.
2. Fixed a problem in which issuing a Follow Spline (f) command would generate
the "Axis must be stopped before following a spline" (326) parameter error
if issued to an axis that had just previously completed a synchronized move
as a slave axis.
3. Fixed several other problems with Synchronized Moves.
4. Fixed a problem in which Open Loop (O) commands while an axis is in the
Reference state could cause the Target Position to jump to the Actual
Position.
----------------
Release 20030403
----------------
New or Enhanced Features:
1. Removed offset from analog speed inputs.
2. Expanded the Set Count Offset (35) command to support offsetting counts on
analog velocity inputs.
----------------
Release 20030327
----------------
New or Enhanced Features:
1. Added the Follow Spline Relative (6) command which starts a spline with out
being stopped or at the first point of the spline. The spline motion will
be relative from the current position.
----------------
Release 20030211
----------------
New or Enhanced Features:
1. The Set Mode (M) command can now change the Rotational bit, which enters or
exits Rotational mode. This command can also still be used to change the
Monitor Pressure bit or change the Gearing master.
2. Expanded the scope of Rotational mode to apply to an axis even after the
axis is halted with a Disable Drive (K) command, Halt (H) command, or an
Auto Stop. Therefore, the only way to exit Rotational mode is by issuing
another motion command without the Rotational bit set or clearing the
Rotational bit with the Set Mode (M) command.
Bug Fixes:
1. Fixed a problem in which reversing the sign of the Gear Ratio in gearing
mode 1 could result in the gear ratio not reaching the requested ratio.
----------------
Release 20030102
----------------
Bug Fixes:
1. Fixed a problem with using Rotational positions in gearing mode 2.
2. Fixed a problem with Synchronized moves that allowed changing the direction
without waiting to be stopped.
----------------
Release 20021205
----------------
New or Enhanced Features:
1. The Set Mode (M) command can now change the Monitor Pressure Bit. It can
also be used to change the Gearing master axis on-the-fly for in-progress
ratioed and spline moves.
Bug Fixes:
1. Quick moves will now move inbounds properly. Before it would
intermittently be stopped by an Out-of-Limits parameter error.
2. Fixed a problem where the pressure mode would stop controlling because
clearing the pressure errors also cleared the pressure bit.
----------------
Release 20020819
----------------
New or Enhanced Features:
1. Revised the method of computing the rate of pressure change on the
transition into pressure control to be more repeatable and accurate.
2. Added the Reference (W) command, which allows axes used as reference axes
(not controlled) to have their positions filtered.
3. Improved the accuracy of the response time on low pass filters with time
constants under 20 ms.
4. The Auto Stop parameter is now updated to show the value being used when
an invalid value was sent to it.
5. A number of improvements to the analog feedback types:
(a) Transducer Overflow and Noise Error bits are now maskable on analog
axes.
(b) Eliminated the Transducer Noise error for Position Reference inputs.
(c) Adjusted the affect of the Scale for Velocity inputs by roughly 2%
such that it now represents the speed at full drive (32500 counts).
(d) The Actual Pressure/Force values are updated consistently for
No Transducer and Transducer Overflow errors. For No Transducer
errors, the Actual Pressure/Force is left unchanged (it had been
set to zero in some cases previously). For Transducer Overflow
errors, the Actual Pressure/Force saturates (it had been set to
zero in some cases previously). This allows the user to control
pressure even after the pressure input saturates.
(e) Improved the noise/overflow/underflow immunity of Position Control
inputs by retrying up to six times before reporting an error. From
the time the condition is first detected until the error is
reported, the Actual Position is approximated using prediction.
Bug Fixes:
1. Fixed an issue where the pressure could be limited as though the axis has
reached the Command Position when it has not, if the axis had been involved
in a synchronized move.
2. Fixed an issue in which the rate of pressure change at the time of a
transition from position to pressure could be zero and cause the pressure
to never ramp up to the commanded pressure.
3. Fixed an issue where short moves (up to several position units) could take
many times longer than they should (up to several seconds).
4. Fixed an issue where ramping the drive output using an Open Loop (O) command
on an auxiliary Pressure or Force axis would always drop the drive back to
0 mV, and then ramp up to the requested drive instead of simply ramping
between the current and requested drives.
5. Fixed an issue where, when the user selected Hard Stop for a required Auto
Stop bit (e.g. No Transducer), it was converted to a Hard Stop with Disable
Drive on axes with an Enable output.
6. Fixed an issue where the scaling on the Actual Position prediction for MDT
and SSI when we do not have valid transducer counts was off by 2.4%.
7. Fixed an issue in which the Acceleration Limit parameter's scale was off by
a factor of 2.048 for 1ms firmware and 1.024 for 2ms firmware on Analog
Position and Velocity Reference axes.
8. Fixed an issue in which writes over a communication bus such as Ethernet,
Modbus Plus, and PROFIBUS-DP to individual command parameters without
writing to the command had been ignored. They are now allowed provided
there is not a command already in the command buffer.
9. Fixed an issue where repeating splines were incorrectly disallowed for
Quad/Stepper and Incremental SSI/Stepper axes.
10. Fixed an issue where the Target and Command Positions could be set
incorrectly after a Set Parameters (P) command on Quadrature/Stepper
and linear SSI/Stepper axes.
11. Fixed a problem in which Compensation was allowed for axes configured to
not have feedback. This could lead to extra steps in the output if
compensation was enabled.
12. Fixed a problem in which Simulate mode for Incremental SSI/Stepper axes did
not work correctly.
13. Fixed problems with high ramp rates or no ramp and exiting pressure to openloop
state.
----------------
Release 20020515
----------------
New or Enhanced Features:
1. Openloop mode now supports the rotational bit and the positions
will wrap between the extend and retract limits inclusive.
2. The # command can now be used to change the count offset for SSI
absolute feed back devices. Previously this value could only be
changed in the module configuration screen for SSI.
----------------
Release 20020507
----------------
Bug Fixes:
1. For analog velocity or position reference axes, fixed a problem gearing to
the Target (filtered) Position and a problem where the wrong filter time
constant could be used.
2. For the Sine Move (~) command, State bit B in the Status word did not turn
on while decelerating. This bit now correctly turns on. Also switching
from opento closed loop using this command could result in moving to the
wrong position.
----------------
Release 20020429
----------------
New or Enhanced Features:
1. Added a low-pass filter to analog pressure and force. The filter is
controlled by the parameter currently labeled Reserved; future versions of
RMCWin will correctly label this parameter. When this parameter is zero,
the filter is disabled. When the parameter is non-zero, it enables the
filter and represents its time constant in milliseconds.
2. An axis no longer quits when in pressure control and command position is
reached. The axis now reduces target pressure so that the axis will not
cross the command position.
----------------
Release 20020419
----------------
New or Enhanced Features:
1. Added support for the Integral Drive plot type. This plot type requires
RMCWin 2.06.0 or newer.
2. Improved the accuracy of the Target Position generation during short
trapezoidal ramps.
Bug Fixes:
1. Fixed cases where the position and pressure integrators were not enabled
and disabled when they should have been.
2. Fixed a case where the open loop ramp rate could be incorrect after it
crosses zero millivolts.
3. Fixed a bug in which the Bias (B) command did not work in modes 0 and 1.
----------------
Release 20020222
----------------
New or Enhanced Features:
1. Gearing can now be started with an initial gear ratio other than zero, as
computed from the current speed to minimize a bump in speed.
2. Added filtering and slew limiting to analog reference axes.
----------------
Release 20011220
----------------
New or Enhanced Features:
1. Added support for the new SSI feedback module with Stepper output.
2. Reduced the time between reading SSI transducers and actually using the
value for control when 2 ms firmware is used.
Bug Fixes:
1. Fixed a problem in which gearing to an axis's target position did not
work if the master axis was in any of the following modes: (1) open loop
portion of a Quick Move, (2) controlling pressure, (3) analog position or
velocity reference, (4) synchronized slave.
2. Fixed a bug in which axes gearing to the actual position of Quadrature
(Analog or Stepper output) axes would miss a few counts each time the
master homed.
----------------
Release 20011116
----------------
New or Enhanced Features:
1. Added a new MulDiv command that can be used to multiply, divide, and scale
values in the Event Step table. The new link types described below can be
used to check for overflows in this command as well as the Add and Subtract
commands.
2. Added Math Compare and Math Error link types. These link types can be used
to check for overflows in the Add, Subtract, and MulDiv commands. They can
also be used to compare the results of these commands with specified
values.
3. For synchronized moves, the slave axes now match the integrator enabled/
disabled state of the master axis.
----------------
Release 20011112
----------------
New or Enhanced Features:
1. When a Communication DI/O module is installed, the READY output (CPU out 0)
is now turned off when an AutoStop error occurs on any axis configured
through RMCWin 2.02.0 or newer to use this feature. By default, no axes
are selected, which disables the feature for backward compatibility. The
READY output is turned back on when the errors are cleared and the RUN/STOP
input (CPU in 0) is on.
----------------
Release 20011015
----------------
New or Enhanced Features:
1. Changed the Start Graph (y) command to avoid starting a plot if a plot is
currently being read up by RMCWin.
Bug Fixes:
1. Reduced delay in analog drive output on axes 0, 2, 4, and 6.
2. Issuing the Set Pressure (^), Set Pressure Ramp (\) and Set Pressure
Set B (_) commands to a position axis no longer overwrites commands being
issued to the assigned pressure axis. This made it difficult to track
problems in Event Step table programs.
3. Fixed two issues with the automatic position wrapover in Speed Control
mode. First, when the position was adjusted by Set Position (Z) and Offset
Position (z) commands, the wrapover would adjust in the wrong direction.
This would not affect the PID control, but would most likely confuse
sequencing. Second, when wrapping positions on axes with negative scales,
the wrap range was off by one position unit.
4. Fixed a bug in which the Pressure Control status bit was not cleared when
the Set Position/Pressure (c) and Quadrature Axis Reset (q) commands were
used to switch an axis to closed-loop position control from pressure
control.
5. Fixed a bug in which blank Modbus Plus commands were displayed incorrectly
in plots. The command's speed would be displayed in place of the command
value.
6. Fixed a bug in which blank commands issued over Ethernet, Modbus Plus,
Serial, and PROFIBUS Message Mode partially overwrote commands issued
simultaneously from the Event Step table.
----------------
Release 20010911
----------------
Bug Fixes:
1. Fixed a problem introduced in 20010815, which caused Gearing mode 2 to
start ramping the gear ratio at the wrong master position.
2. Fixed a bug introduced in 20010830, in which Comm DI/O modules always
used Parallel Position mode, despite what was selected in RMCWin.
----------------
Release 20010905
----------------
Bug Fixes:
1. Fixed a problem introduced in 20010208, which caused splines downloaded
using the X and T commands to not have continuous speeds between all
points.
----------------
Release 20010831
----------------
Bug Fixes:
1. Fixed a problem in which Ethernet/Serial requests to the CPU could fail.
Depending on the Ethernet load this could happen several times a day.
This fix will only take effect if the Ethernet/Serial firmware is dated
20010810 or newer. It is HIGHLY recommended that all Ethernet and Serial
users update to this CPU firmware and 20010810 or newer Ethernet/Serial
firmware.
----------------
Release 20010830
----------------
New or Enhanced Features:
1. Enhanced the Set Mode (M) command by allowing it to change the gear master
axis on-the-fly for in-progress ratioed and spline moves. Notice that the
master can NOT be changed when changing the gear ratio in mode 2.
2. Revision 3 and 5 or newer of Quadrature modules can now have 14 bits of
resolution on their drive outputs, up from the original 12 bits.
Bug Fixes:
1. Removed the fix for the Ethernet/Serial communication modules made in the
previous (20010817) firmware release because it made the problem worse
unless new Ethernet/Serial firmware (20010810 or later) was used. The
20010831 firmware release above works best with all Ethernet/Serial
firmware versions.
----------------------------------------------
Release 20010817 (Also 20010815X and 20010816)
----------------------------------------------
New or Enhanced Features:
1. Added support for allowing the Ethernet module to halt all axes if the
controlling EtherNet/IP I/O connection is broken.
2. PROFIBUS-DP: Added support for a Message Mode that is compatible with
SIMATIC Applications Productivity Tool (APT).
3. Added additional parameter checking for the Function (,) and Speed Control
(G) commands.
Bug Fixes:
1. Quick move works with drive reverse bit set.
2. Gearing in mode 2 works when master scale factor is negative.
3. Limit checking in spline mode works.
4. Fixed a problem for Ethernet and Serial communication modules in which,
in very rare cases, requests could be reported as having failed to the
Ethernet/Serial module even though they did not fail. NOTE: This firmware
should ONLY be used with Ethernet/Serial firmware dating 20010810 or later.
Using it with older Ethernet/Serial firmware will make the problem worse.
See 20010831 firmware above for a more complete fix.
----------------
Release 20010522
----------------
New or Enhanced Features:
1. Added the Display LCD Screen ($) command, which immediately displays the
requested LCD screen (0 to 15).
Bug Fixes:
1. Made sure AUTOSTOP bits are enabled when leaving open loop.
2. Now checks AUTOSTOP bits before disabling OPENLOOP or PID routines.
3. Made the "RS-232 Monitor" serial port's baud rate more accurate.
4. Clear the Step status field when doing open loop soft stop.
----------------
Release 20010420
----------------
New or Enhanced Features:
1. This release enhances step table capabilities. Added Timer (T and t) link
types. Added the Poll (?) command for making the link type a non-blocking
conditional check.
----------------
Release 20010402
----------------
New or Enhanced Features:
1. Added Add (+), Subtract (-), and Function (,) commands for use in the Event
Step table.
2. Extended the Set Position (Z) and Offset Position (z) commands to work on
analog axes in velocity control, velocity reference, and position reference
modes.
3. For pressure axes, changed the - command from Set Pressure Set A to
Subtract. The Set Pressure Set A command is still available using the
0x7C (|) command.
Bug Fixes:
1. Fixed a problem in which gearing to a velocity reference resulted in the
gear ratio being consistently backwards from the direction expected.
2. Previously a re-issued Go (G) command could cause a group of synced axes
to move even though one of axes had a sensor fault. Now re-issued Go
commands will not move any of the axes if any synchronized axis has a
sensor fault.
----------------
Release 20010327
----------------
Bug Fixes:
1. Fixed a problem introduced in the 20010319 firmware in which the Pressure
Control Firmware option was not always recognized even through it was
available on the module.
----------------
Release 20010319
----------------
New or Enhanced Features:
1. Added the ability to set the skew limit on reference and stepper axes.
2. Added support for the 2-input (16-bit), 2-axis analog module.
----------------
Release 20010215
----------------
New or Enhanced Features:
1. SPLINES: Dramatically improved the smoothness and accuracy of splines with
low accelerations.
2. STEP TABLE: The Step number status register for an axis is reset to 0 when
the axis is halted due to an auto-stop condition. This has no effect on
the behavior of the system, but is useful to identify that the axis is no
longer running an event sequence.
----------------
Release 20010212
----------------
Bug Fixes:
1. Fixed a problem in the Set Position (Z) and Offset Position (z) commands
in which, for linear transducers, the new retract limit was not correctly
computed.
----------------
Release 20010208
----------------
New or Enhanced Features:
1. SPLINES: Added support for Enhanced curves, which include zero-
acceleration endpoints, linear segments, fixed velocity points, and auto-
repeat. Enhanced curves require RMCWin 1.15.0.
2. PLOTS: Added support for reading internal speeds in plots for
troubleshooting. This feature requires RMCWin 1.15.0.
Bug Fixes:
1. SPLINES: Fixed a bug in which starting plots on axes 5-7 could cause drive
problems in splines executing on axis 0.
----------------
Release 20010123
----------------
New or Enhanced Features:
1. STEP TABLE: Added the Communication Synchronization (C) link type to
simplify synchronization of communications with the step table.
2. QUADRATURE: Closed loop moves are now allows when on the extend and
retract limit switches according to the following rules:
(1) Extend moves are allowed when on the retract limit switch.
(2) Retract moves are allowed when on the extend limit switch.
----------------
Release 20010104
----------------
New or Enhanced Features:
1. QUICK MOVE: Added support for unidirectional valves on quick moves.
----------------
Release 20001204
----------------
New or Enhanced Features:
1. LCD420 ONLY: Changed the functionality of the LCD420 display. RMCWin
1.14.0 or newer can now be used to create custom screens. The previous
screens are not supported at all in this firmware.
2. STEPPER ONLY: Added commands to set Stepper axes' parameters on-the-fly
(0xD0-0xDF).
3. Added support for changing the SCALE parameter on-the-fly with the 0xD1
command. This command is only active when the axis is in open loop.
Bug Fixes:
1. Fixed a bug in which the Set Positions (Z) command did not work correctly
for absolute position axes with negative scales. The position was adjusted
in the wrong direction.
----------------
Release 20001020
----------------
New or Enhanced Features:
1. STEPPER ONLY: Support for the STEP (Quadrature Input with Stepper Output)
modules was added.
2. Improved the in-position calculation to use the fractional position units,
which makes it symetrical around the command position.
Bug Fixes:
1. SSI ONLY: Fixed a problem in which the second axis of each SSI module was
recognized by RMCWin as an MDT instead of as an SSI. This also prevented
SSI-specific commands from being processed on these axes. This problem
was introduced in the 20001016 release.
----------------
Release 20001019
----------------
Bug Fixes:
1. MODBUS PLUS ONLY: Fixed a problem in which requesting large reads or writes
over Modbus Plus would reset the RMC module. This problem was introduced
in the 20001016 release.
2. MODBUS PLUS ONLY: When the Modbus Plus connection is lost, event control
sequences were not stopped if they were running on axes whose motion was
already stopped. Event Control sequences running on axes that were in open
loop or moving were correctly stopped.
----------------
Release 20001016
----------------
-------------------------------------------------------------------------------
NOTE: This firmware is now 96KB, 50% larger than previous releases. Therefore
it requires a new Boot/Loader firmware file--available in the same
rmc_fw.zip file on Delta's web site's download page--and RMCWin 1.13.0.
Once you have upgraded the Boot/Loader and RMCWin, you will be able to
download 64KB or 96KB firmware files with no further updates to RMCWin
and the Boot/Loader.
-------------------------------------------------------------------------------
New or Enhanced Features:
1. QUADRATURE ONLY: Enhancement to Auto Stop Behavior. Previously if both
Hard Stop and Soft Stop bits were set for a fault in the Auto Stop
parameter, the axis did a Hard Stop exactly as would be done if the Hard
Stop bit had been set alone. Now, if both bits are set for a fault, the
Hard Stop is still done, but for Quadrature axes, the Amplifier Enable
output is also turned off (drive disabled). RMCWin 1.14.0 has a new Auto
Stop popup editor that allows selecting this new Auto Stop type (Disable
Drive).
2. QUADRATURE ONLY: Enhancement to Status Bit #15 on Quadrature Axes.
Previously, status bit #15 for Quadrature axes would be set if either (1)
the Fault Input was active, or (2) an encoder error occurred. This made it
somewhat ambiguous as to which of these conditions caused this bit to be
set. With this firmware enhancement, RMCWin 1.14.0 can now be used to
select whether this status bit is activated because of either, both, or
neither of the above conditions. The default is to keep the same behavior
as previous firmware revisions: both conditions will set this bit.
Bug Fixes:
1. QUADRATURE OR ROTARY SSI ONLY: Fixed a problem in which issuing an Offset
Position (z) command to a Quadrature or rotary SSI axis would reset the
RMC module. This problem was introduced in the 20000928 release.
2. PROFIBUS ONLY: When the PROFIBUS connection is lost, event control
sequences were not stopped if they were running on axes whose motion was
already stopped. Event Control sequences running on axes that we
