RMC70 Firmware Release Notes - Special 'S4' Firmware

This file contains release notes for the special "S4" branch of firmware. This firmware supports older RMC75S and RMC75P controllers, which have been feature frozen. That is, no additional features will be added to this firmware line and therefore to these controllers. However, we will continue to support these controllers and fix any bugs that are found. The following controllers must use the 'S4' firmware:

RMC75S revisions 1.0 through 2.1C
RMC75P revisions 1.0 through 2.1D

Notice that prior to 2.72-S4, the standard firmware line supported these controllers. Notes for those 1.02 to 2.71 firmware are included below as well for your reference. Notice that from 2.30 to 2.70 features have been added that did not support these older controllers, and therefore those features have been stripped from the notes below.

RMC70 Firmware 2.77-S4 (July 21, 2011)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. Fixed a problem in which the Advanced Gear Move command could fault prematurely when the master axis moved outside its expected range.
  2. Fixed a problem in which the simulator for absolute linear SSI axes would behave incorrectly if the Count Offset axis parameter was non-zero.
  3. Fixed a problem in which issuing a Closed Loop Halt (1) command to a reference input axis would fault the controller.

RMC70 Firmware 2.76-S4 (October 29, 2010)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. Fixed a problem in which small Modbus/RTU packets sent to other devices on a multidrop network could incorrectly be reported as errors in the RMC event log.
  2. 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'.
  3. 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.
  4. 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.

RMC70 Firmware 2.75-S4 (October 7, 2009)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. Fixed a problem in which the Open Loop Absolute (11) command could generate the wrong Control Output voltage in some rare cases.
  2. Fixed a problem in which an Internal Target Generator Fault could occur when re-issuing point-to-point move commands in some rare cases.
  3. Fixed an issue on the RMC75S and RMC75P in which it would report a task being on the incorrect step after the PreScan table starts a task and until that task transitions to another step. This affected the current step displayed in the Program Monitor, in the Step Editor, and in the Task status registers. However, the Event Log reported the transitions correctly. This problem was introduced in 2.74-S4 firmware.

RMC70 Firmware 2.74-S4 (June 8, 2009)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

  1. An entry is now added to the Event Log if the control loop cannot be completed in the requested loop time.
  2. 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.

Bugs Fixed:

  1. Fixed a problem in which entering RUN mode using a RUN/PROGRAM discrete input did not enable all axes.
  2. Fixed a problem in which the Force Orientation setting was not taken into account when using Active Damping with force feedback.
  3. 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.
  4. Fixed a problem on the RMC75S and RMC75P where issuing immediate commands to multiple axes from User Programs could work incorrectly in some cases.
  5. Fixed a problem in which an Internal Target Generator Fault could occur in rare cases with the Quick Move command.
  6. Fixed some problems with logging task events on the RMC75S and RMC75P.
  7. Fixed a problem in which the RMC70's SSI clock output frequency differed from the selected frequency.
  8. Fixed a problem in the ** operator did not work properly in some cases on the RMC75S and RMC75P.
  9. Fixed a problem with the RMC75P in which changing the PROFIBUS mode with an online controller could cause the PROFIBUS connection to fail to re-connect without restarting the controller.
  10. Fixed a problem in which the Actual Pressure Rate and Actual Force Rate status registers could be stuck at zero (0) on RMC75P and RMC75S controllers.

RMC70 Firmware 2.73-S4 (May 8, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. 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.
  2. 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.

RMC70 Firmware 2.72-S4 (April 2, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

No change in behavior from 2.71. This firmware is the first in the S4 line, which means that it only supports the above controllers.

RMC70 Firmware 2.71 (March 20, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. 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.

RMC70 Firmware 2.70 (March 5, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

  1. 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.
  2. Added additional Event Log entries on startup when the saved axis definitions are not valid for the current hardware configuration. This can occur when an expansion module is removed from an RMC70.
    [RMCTools 2.70.0 or newer required to view these entries]
  3. 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.
  4. 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:

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

RMC70 Firmware 2.62 (February 13, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. 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.

RMC70 Firmware 2.61 (February 7, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. 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.

RMC70 Firmware 2.60 (January 18, 2008)

NOTE: Requires RMCTools 2.10.0 or newer.

No changes affecting these controllers.

RMC70 Firmware 2.50 (December 14, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

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

RMC70 Firmware 2.40 (November 21, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

  1. Added support for rotary virtual axes.
  2. Expanded the acceptable range for the Output Filter parameter to include values down to 0.01 Hz.

RMC70 Firmware 2.32 (November 19, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

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

RMC70 Firmware 2.31 (October 24, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. 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.

RMC70 Firmware 2.30 (September 25, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

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

RMC70 Firmware 2.21 (September 6, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

Bugs Fixed:

  1. Minor changes to achieve the EtherNet/IP Conformance Tested mark.
  2. Fixed a problem in which the RMC75E Controller LED did not blink to indicate that the controller was in PROGRAM mode on startup. This regression was introduced in 2.20.
  3. Fixed a problem in which the RMC75S and RMC75P could fail to communicate when configured with certain axis configurations.
  4. Fixed a couple of minor problems with handling errors on the Mitsubishi Ethernet protocol.

RMC70 Firmware 2.20 (August 23, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

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

Bugs Fixed:

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

RMC70 Firmware 2.10 (July 26, 2007)

NOTE: Requires RMCTools 2.10.0 or newer.

New or Enhanced Features:

  1. The limit for available EtherNet/IP CIP connections was increased from 8 to 32.
  2. Added support for the POLY function in expressions. This function provides an easy and efficient way to compute a polynomial.
  3. 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.
  4. The Model-based Position Filter can now be enabled for axes with a first order model.
  5. We now log when the PreScan table is disabled.
  6. The Set Pressure/Force Mode (40) command will no longer displace motion commands to the next control loop.
  7. 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:

  1. 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.
  2. 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.
  3. Corrected several problems when controlling with Pressure/Force limiting.
  4. Corrected behavior of the expression logging filter.
  5. Fixed a problem where some User Program storage space could be used up permanently by the Tuning Wizard.
  6. Fixed a problem where re-establishing an Ethernet connection from some older Allen-Bradley PLC's could take over a minute in some cases.
  7. Fixed a problem in which some controller error notifications to RMCTools were missed. This was introduced in version 2.00.

RMC70 Firmware 2.03 (July 12, 2007)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Increased the storage area for User Programs from 64KB to 256KB on the RMC75E.
    [RMCTools 2.10.0 or newer required to build programs larger than 64KB.]

Bugs Fixed:

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

RMC70 Firmware 2.02 (July 9, 2007)

NOTE: Requires RMCTools 1.50.0 or newer.

Bugs Fixed:

  1. 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.
  2. Optimized the command queue so that simple low priority commands can no longer displace motion commands to the next control loop.
  3. 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.
  4. Fixed a problem in which immediate commands issued by a User Program to any axis other than the first were not issued correctly.
  5. Fixed a problem with the Position and Velocity PID algorithms in which the integrator value could be incorrectly adjusted during saturation conditions.

RMC70 Firmware 2.01 (June 15, 2007)

NOTE: Requires RMCTools 1.50.0 or newer.

Bugs Fixed:

  1. Fixed a memory leak that would occur every time a PROFIBUS connection is lost and re-established. This only caused a problem if this was repeated hundreds of times.
  2. Fixed a problem with the target generation during acceleration in the negative direction when using the Gear (Clutch by Rate) command.
  3. We now accept extra PROFIBUS parameterization bytes, as long as they are zero. This is a workaround for an apparent bug in the COM PROFIBUS 5.x setup software package by Siemens. These extra bytes must be 0.
  4. Fixed a situation where analog feedback could appear to have large noise spikes when there was no signal noise. This was a regression introduced in the 2.00 firmware.
  5. Fixed a problem where a plot could be retriggered when RMCTools had just stopped a trending plot. This caused RMCTools to be unable to backfill gaps in the trend plot.
  6. Fixed a problem where the Actual Velocity was incorrectly set to zero when recovering from an intermittent (one or two control loop in duration) Transducer Overflow or No Transducer error. This resulted in an incorrect Differential Gain output term.

RMC70 Firmware 2.00 (March 20, 2007)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Added the Omron FINS Ethernet protocol to the RMC75E.
  2. Added support for issuing 10-register commands. As part of this change, two additional command parameters were added to the Gear Pos (Clutch by Distance) (32) and Advanced Gear Move (33) commands. A new register file (%MD25.x) was added to support the new 10-register commands. The original axis command file (%MD16.x) retains its original format for backward compatilibity.
    [RMCTools 2.00.0 or newer supports 10-register commands.]
  3. Increase the amount of plot storage area dramatically on the RMC75E. The old storage area held 32,768 samples. The new storage area size depends on the RMC75E loader version. For version 1.02 or newer, the plot storage area holds over 12,000,000 samples. Otherwise, the limit is just over 4,000,000.
    [Requires RMCTools 2.00.0 or newer.]
  4. Improved the maximum packet size for communication with the RMC75E. This improves communication performance in many areas, most notably plot trends are less susceptible to gaps during upload.
    [Requires RMCTools 2.00.0 or newer to experience benefits.]
  5. Added a special address range for Modbus/RTU and Modbus/TCP. This area duplicates some higher-addressed, but commonly used areas. This allows some PLCs and HMIs with limited communication capability to communicate with RMC70 controllers. The new Omron FINS protocol also uses this new range.
  6. For the Advanced Gear Move (33) commands, it is now allowed that the Master Sync Position parameter match the current Master Position. A constant Gear Ratio Rate is assumed in this case.
  7. Changed the value returned by the "Maximum Samples At Once" register from 32 to 128. This reflects that the firmware allows the maximum number of plot items (16) even when the maximum number of plots (8) is selected.
  8. Invalid floating point values written as parameters or command parameters are now rejected with the appropriate error.
  9. Added support for reading the exact CPU hardware revision. This can help Delta technical support in troubleshooting problems.
  10. Added the ability to restart the controller remotely. This is necessary to be able to change the control loop time or axis definitions over RMCLink.
  11. Improved the processing of commands from multiple sources.
  12. Changed the behavior of the Stop Plot (101) command. It will now stop the capture immediately, even if the plot buffer had not yet been filled. This allows for immediate re-arming of the plot.
  13. Improved the notifications to RMCTools of controller errors so that only new errors are displayed.

RMC70 Firmware 1.71 (February 5, 2007)

NOTE: Requires RMCTools 1.50.0 or newer.

Bugs Fixed:

  1. Fixed a problem in which the Speed at Position (36) command always caused a command error if the axis was stopped.
  2. Improved the error handling of a zero master distance for the Phasing (34), Geared Slave Offset (35), Gear Pos (Clutch by Distance) (32), and Advanced Gear Move (33) commands.
  3. Fixed a problem in which the Index (Z) Edge Mode parameter was cleared when an axis was in simulate mode.
  4. Fixed a problem in which an axis in Direct Output mode would stop ignoring Auto Stop errors if a Direct Output command that generated a command error was issued.
  5. Fixed a problem in which the Hold Current Position (5) command could trigger a Pos/Neg Limit Input error or a Soft Pos/Neg Overtravel Error, which it should not be able to do, since these errors are directional, and the Hold Current Position command is, by definition, not directional.

RMC70 Firmware 1.70 (December 21, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Added support for new gearing commands:
    [RMC70Tools 1.70.0 or newer required to issue from RMC70Tools]
    Gear Pos (Clutch by Distance) (32)
    Simplies flying-cutoff applications by synchronizing the slave axis to the master axis at specified slave and master positions.
    Advanced Gear Move (33)
    An advanced command for generating arbitrary motion profiles dependent on a master axis position.
    Phasing (34)
    Adjust the phase between a slave axis its master axis.
    Geared Slave Offset (35)
    Offset the slave axis position by a specified amount.
    Gear Pos (Clutch by Rate) (39)
    Start gearing with the specified ratio, using requested acceleration and jerk parameters to control the transition.
    These are in addition to the two gearing commands added in the 1.30 firmware:
    Gear Pos (Clutch by Time) (30)
    Gear Vel (Clutch by Time) (31)

Bugs Fixed:

  1. Fixed a problem with using the internal simulator on rotary axes. The positions would get more and more coarse over time in some cases.
  2. Fixed a problem in which the Target Position could bounce across the unwind position when very nearly at the unwind position.
  3. Fixed a problem in which immediate commands could be logged as coming from a different task than actually issued them.
  4. Fixed a problem in which filtered position inputs would drop to a zero velocity temporarily before filtering up to the actual velocity.
  5. Fixed a problem in which redefining the position on a simulated absolute linear axis using one of the Offset Position (47), Set Actual Position (48), or Set Target Position (49) commands did not work properly.

RMC70 Firmware 1.60 (November 7, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Event Log Enhancements:
    [RMC70Tools 1.60.0 or newer is required for all of these features]
    1. Added Event Log filtering. This greatly enhances the ability to focus on the needed information, and allows us to offer more logging options without risk of flooding the event log.
    2. Assignment Expressions in user programs are now logged. This, like all informational log entries can be filtered out by the user.
    3. Added logging of Set/Clear/Toggle Discrete Output commands when issued from the User Programs.
    4. Added support for clearing the Event Log from RMC70Tools.
    5. Added error logging for all serial and Ethernet protocols.
    6. Added transaction logging for all serial and Ethernet protocols. Notice that this logging is filtered out by default, but can be turned on.
  2. Expanded the acceptable values for the Requested Position command parameter on rotary axes for the following commands:
    Open Loop Absolute (11)
    Quick Move Absolute (15)
    Move Absolute (20)
    Time Move Absolute (23)
    Move Absolute (I-PD) (28)
    Advanced Time Move Absolute (26)

    Previously, if the Direction parameter was one of Nearest, Current, Positive and Negative, then the Requested Position was required to fall between the Position Offset and the Position Offset plus Position Unwind (for example, 0 to 360 on an axis scaled for degrees).

    Now, the Requested Position can be outside that range. It will be unwound to fit within the current rotation, and then have the Direction applied to it.

    For example, if the position range is 0 to 360 degrees, then a Requested Position of 365, -355, and 725 are all equivalent to a Requested Position of 5. Therefore if the current position is 30, and the direction is Positive, then the new target Position will be 5 degrees in the next rotation.

  3. Added a new status register to position axes:
    [RMC70Tools 1.60.0 or newer is required to view this register in RMC70Tools]
    Target Jerk (Fn:58) - (n is file 8-11 for axes 0-3 respectively)
    This value holds the target profile's current jerk value. The jerk is defined as the rate that the acceleration is changing in position-units per second per second per second. This value can be used to troubleshoot control problems.
  4. Added support for two new task status registers:
    [RMC70Tools 1.60.0 or newer required to view these registers in RMC70Tools]
    Current Program (F24:3 for Task 0, F24:19 for Task 1, etc.)
    Current Step (F24:4 for Task 0, F24:20 for Task 1, etc.)
    This information is still available the Current Program/Step register, but has been divided out for easy access from many PLC and HMI devices.
  5. Added the ability to issue some commands from User Programs immediately, without waiting for the next control loop before issuing another command. The following commands can be issued in this way:
    [RMC70Tools 1.60.0 or newer is required]
    Set Discrete Output (60)
    Clear Discrete Output (61)
    Toggle Discrete Output (62)
    Set Pos/Vel Ctrl Mode (68)
  6. Added the Mitsubishi Ethernet protocol.
  7. Added the Mitsubishi Bi-directional protocol.
    [RMC70Tools 1.60.0 or newer is required]
  8. Added a new axis parameter for SSI feedback: SSI Overflow Mode. This can be used to select which, if any, SSI reading is treated like a Transducer Overflow using the following options:
    [RMC70Tools 1.60.0 or newer is required]

Bugs Fixed:

  1. Fixed a problem in which the Ramp Pressure/Force commands did not change the Target Pressure/Force when the Ramp Time was zero (0).
  2. Fixed a problem where LEDs associated with unused inputs or outputs could turn on, which was confusing.

RMC70 Firmware 1.54 (October 13, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

Bugs Fixed:

  1. Fixed a problem in which the integrator would get cleared incorrectly in some cases during an open loop move when Pressure/Force Limiting was enabled.

RMC70 Firmware 1.53 (October 3, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

Bugs Fixed:

  1. Fixed a regression introduced in the 1.52 release in which RMCTools could no longer browse controllers without an IP address.

RMC70 Firmware 1.52 (September 21, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Improved the reliability of browsing for RMC75E controllers from RMCTools on PCs with multiple Ethernet interfaces.

RMC70 Firmware 1.51 (September 5, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Revised the Adv Time Move Absolute (26) and Relative (27) commands so that if they are not followed by another motion command within two control loops the axis will halt. Previously, this timeout was set to 10 milliseconds.

Bugs Fixed:

  1. Fixed a problem in which firmware newer than 1.43 was not supported by revision 1.0A RMC75S and RMC75P controllers.

RMC70 Firmware 1.50 (August 17, 2006)

NOTE: Requires RMCTools 1.50.0 or newer.

New or Enhanced Features:

  1. Added new control modes: Velocity PID, Position I-PD, and Velocity I-PD. These augment the existing Position PID control mode.
    1. Added the a new "Default Pos/Vel Control Mode" parameter, which controls what the default control mode is on power-up.
    2. Added the Set Pos/Vel Control Mode (68) command. This command is used to switch between the above control modes. The switch actually takes place when the next motion command is issued.
    3. Position PID control mode is supported by the following commands:
      Hold Current Position (5)
      Stop (6)
      Quick Move Absolute (15)
      Quick Move Relative (16)
      Move Absolute (20)
      Move Relative (21)
      Time Move Absolute (23)
      Time Move Relative (24)
      Adv Time Move Absolute (26)
      Adv Time Move Relative (27)
      Gear Position (30)
      Gear Velocity (31)
      Speed at Position (36)
      Move Velocity (37)
      Position PID now supports two types of advanced control: Active Damping and Acceleration Control, which each use two new gains.
    4. Position I-PD control mode is supported by the following commands:
      Hold Current Position (5)
      Stop (6)
      Quick Move Absolute (15)
      Quick Move Relative (16)
      Move Absolute (20)
      Move Relative (21)
      Time Move Absolute (23)
      Time Move Relative (24)
      Adv Time Move Absolute (26)
      Adv Time Move Relative (27)
      Move Absolute (I-PD) (28) (new command, see below)
      Move Relative (I-PD) (29) (new command, see below)
      Gear Position (30)
      Gear Velocity (31)
      Speed at Position (36)
      Move Velocity (37)
      Position I-PD also supports the Active Damping advanced control mode.
    5. Velocity PID control mode is supported by the following commands:
      Stop (6)
      Gear Velocity (31)
      Move Velocity (37)
      Velocity PID also supports the Active Damping and Acceleration Control advanced control modes.
    6. Velocity I-PD control mode is supported by the following commands:
      Stop (6)
      Gear Velocity (31)
      Move Velocity (37)
      Move Velocity (I-PD) (38) (new command, see below)
      Velocity I-PD also supports the Active Damping advanced control mode.
    7. Added new commands specific to the new control modes:
      Move Velocity (I-PD) (38)
      Sets the Target Velocity immediately to the Requested Velocity and holds that velocity until commanded otherwise. The axis will be controlled using the I-PD algorithm.
      Move Absolute (I-PD) (28)
      Sets the Target Position immediately to the Requested Position. Control is done using the I-PD algorithm, with the speed limited by the Maximum Speed parameter.
      Move Relative (I-PD) (29)
      Sets the Target Position immediately to the Requested Distance from the indicated position (Command or Actual). Control is done using the I-PD algorithm, with the speed limited by the Maximum Speed parameter.
  2. Added two new pressure/force control commands:
    Ramp Pressure/Force (Linear) (42)
    Ramps the Pressure/Force Limit or Setpoint to the specified value in the specified time, using a linear profile.
    Stop Pressure/Force (43)
    Stop the Pressure/Force target immediately at its current value.
  3. Changed how directionally-ratioed control gains are configured. The Directional Gain Ratio parameter has been removed, and a second Velocity Feed Forward gain for the negative direction was added. The user can also now select to use symmetrical gains, and will only have a single Velocity Feed Forward gain.
  4. Improved the internal position simulator.
    1. Resetting the simulator will now reset the simulated position.
    2. Added the optional simulation of hard stops at the ends of a linear simulation.
    3. Improved the simulation model.
    4. The hard stop simulation allows for simulating pressure/force applications.
    5. Improved the handling of transducer overflows while simulating to ensure quicker recovery.
  5. Added Request and Acknowledge bits for synchronizing communications to commands being issued. This affects serial and Ethernet protocols.
  6. Added a new command parameter to the relative move commands. This parameter selects which position the requested distance is relative to: Command, Actual, or Target Position. The affected commands include:
    Quick Move Relative (16)
    Move Relative (21)
    Time Move Relative (24)
    Adv Time Move Relative (27)
    Move Relative (I-PD) (29)
  7. Added the ability to have separate Gain Sets for Position and Velocity Control or PID and I-PD Control. This allows for switching control modes on the fly.
  8. Improved the Position-Pressure/Force transition between limited and not limited by making it more smooth.
  9. Added advanced filtering options for actual position, velocity, and acceleration terms:
    1. The filtered values can now optionally be used by the control algorithm.
    2. In additional to using a low-pass filter on these quantities, a model can be used to filter the inputs.
  10. Added support for an Acceleration Input. This acceleration input can be used as a secondary input to aid in Acceleration Control or Active Damping.
  11. Added support for Active Damping. This requires a secondary Force or Acceleration Input.
  12. Added support for accessing array elements in expressions.
  13. Added support for the Tuning Wizard.
  14. Improved the accuracy of the Input filters, especially at high and low cut-off frequencies. These frequencies are now limited at 0.01 Hz. Also, it is now possible to disable any of these filters.
  15. The Bi-directional Pressure/Force control option has been removed.

Bugs Fixed:

  1. Clarified the Event Log entry when the user writes to an unused Indirect Data Map register.
  2. Fixed a problem in which the simulator didn't work with a negative scale or when the Reverse Output Polarity parameter was set.
  3. We no longer override the Current Value for variables when a Default Value for that variable is written, unless the Default Value changes.
  4. Fixed a case where the Fault Controller (9) command did not exit Pressure/ Force Limit mode.
  5. Fixed a problem in which the variable data types could be incorrect in some cases on the RMC75E.
  6. Fixed a case where the control output could be set to "NaN".
  7. Fixed a case where USB transaction errors could be introduced.
  8. Fixed a problem in which the Target Acceleration and Jerk were always zero when gearing.
  9. Fixed problems with closing Modbus/TCP and CSP connections over Ethernet.

RMC70 Firmware 1.47 (June 28, 2006)

NOTE: Requires RMCTools 1.30.0 or newer.

Bugs Fixed:

  1. Fixed a bug in which the polarity of the dedicated physical limit inputs on the QA1 and QA2 modules could not be reversed in software.

RMC70 Firmware 1.46 (April 13, 2006)

NOTE: Requires RMCTools 1.30.0 or newer.

Bugs Fixed:

  1. Fixed a bug in which variables F56:24-28 were stuck at 0, and could not be changed.
  2. Fixed a bug in which the Speed at Position (36) command incorrectly faulted if it was not followed up with another command within 10ms of completion.

RMC70 Firmware 1.45 (March 23, 2006)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added support for the QA1 and QA2 one- and two-axis modules with quadrature feedback and analog control output. Each axis interface includes A, B, and Z differential inputs, two registration or physical limit inputs, home input, fault input, enable output, and control output.
    [RMC70Tools 1.45.0 or newer is required]
  2. Added support for the EXP70-Q1 quadrature reference expansion module. Each module includes A and B differential quadrature inputs, a single registration/home input, and selectable termination.
    [RMC70Tools 1.45.0 or newer is required]
  3. The variable table now holds 1024 user variables.
    [RMC70Tools 1.45.0 or newer is required to access more than 64 variables.]
  4. Added support for homing incremental axes. This applies to not only the QA1/QA2 and Q1 modules, but also the incremental SSI interfaces.
    [RMC70Tools 1.45.0 or newer is required to use this feature.]
  5. Added support for assigning physical overtravel limit switches to an axis. Axes based on a QA1/QA2 quadrature axis module can use its dedicated physical limit inputs, but any axis can assign its Fault input and/or generic inputs (from the EXP70-D8) to this task.
    [RMC70Tools 1.45.0 or newer is required to use this feature.]
  6. Added support for two new motion commands: Advanced Time Move Absolute (26), and Advanced Time Move Additive (27). Notice that these are advanced command for advanced users only.
    [RMC70Tools 1.45.0 or newer is required to send these commands.]
  7. Changed the way that Soft Overtravel limits work while monitoring an axis for going outside the limits; their behavior with respect to validating a new command's requested position has not changed. A transition to outside either limit is now always an error, regardless of what direction the controller is trying to move the axis. Once outside the limits, we still fault only on the directional limit in order to simplify getting back inside limits.
  8. Added support for reading and writing from odd addresses over the Modbus/RTU and Modbus/TCP serial and Ethernet protocols. This is required by some Modbus-based HMIs in order to access bit fields.

Bugs Fixed:

  1. Fixed a bug in which changing the position filter value on a rotary axis would effectively disable the filter until the first position unwind.
  2. Changed the maximum Force Rate Filter value on Differential Force inputs to 500 Hz. The default is now set at this new upper limit.
  3. Fixed a bug in which the data type for plotted variables was likely wrong if the variable type was changed after the plot addresses are written to, as they are on controller startup.
  4. Fixed a bug in which the target generator could stall for a single control loop (1 ms typical) when changing closed loop commands in some cases. This is primarily limited to handling a Closed Loop Halt on an input fault.
  5. Fixed a problem in which the Stop and Closed Loop Halt target generators used an S-curve profile even when the Maximum Jerk parameter was set to zero (0), which indicates that a Trapezoidal profile should be used.

RMC70 Firmware 1.43 (February 16, 2006)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added the ability to lock the RMC75E's IP configuration, in that it can only be changed through the USB port.
    [RMC70Tools 1.45.0 or newer is required to change this option.]
  2. Added logging of PROFIBUS parameters and configuration when it is rejected.
    [RMC70Tools 1.45.0 or newer is required to view these log entries.]

Bugs Fixed:

  1. Fixed an issue in which the Actual Position would not recover from a Noise Error in some cases.
  2. Fixed an issue in which there could be one or more "Invalid bit field" configuration errors reported in the Event Log on startup. The addresses would be F32:0, F33:0, on up to F39:0.
  3. Runtime and Configuration errors were logged after any resulting halts were logged. This was confusing in that it made the cause look like the consequence and vice versa.
  4. Fixed a problem in which a negative Position Unwind parameter could cause positions to be handled incorrectly.
  5. Fixed a problem in which a task could issue one last set of commands after the task is stopped. This only took place if commands were being issued at an extremely high rate.
  6. Fixed a problem in which unused axis/input LEDs might be turned on.

RMC70 Firmware 1.42 (January 18, 2006)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. The Time Move Absolute (23) and Time Move Additive (24) commands now accept a Time parameter of 0. This will step the Target Position immediately to the requested position.
  2. Improved the Feed Forward handling of Time Moves (Advanced or standard) for short (1-2 control loops) moves.
  3. Added enhanced RMC70Tools Tuning Tools support.
    [RMC70Tools 1.45.0 or newer is required to use the Tuning Tools.]

Bugs Fixed:

  1. Fixed a case where a plot was re-enabled each time a plot is re-armed.
  2. Fixed a bug in which for Open Loop Absolute (11) and Relative (12) commands, if the effective requested position was behind the current position, but the final output was 0V, the results were unexpected. This now triggers a Command Error.
  3. Fixed a bug in the Speed at Position (36) command, in which attempting to move to a position behind the current position (assuming a non-zero current velocity) had unexpected results. This now triggers a Command Error.
  4. Fixed a case where the Control Output could be stuck at an invalid value.
  5. When an MDT or linear SSI transducer was simulated, the overflow conditions did not correctly trigger a Transducer Overflow error.
  6. Fixed the handling of when the pressure or force (P/F) requested by the Ramp Pressure/Force (41) command is outside the Pressure/Force Limits. This only affects the case where the current Command P/F is already outside the limits and the newly-requested P/F is further outside the limits.
  7. Corrected the position estimations after a transducer error was triggered.

RMC70 Firmware 1.41 (October 4, 2005)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added Plot Status registers (F32:8-13, F33:8-13, ..., F39:8-13). These can be used to determine when a plot has been fully captured.
  2. Added the Static Plot Upload Area. These files (F48-F55) allow limited uploading of the plot data.
  3. Added the Dynamic Plot Upload Area. These files (F40-F47) cover the ability to upload ALL plot data, plus an advanced capability to upload continuous plot data.

RMC70 Firmware 1.40 (September 19, 2005)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added support for the RMC75E Ethernet/USB CPU.
  2. Multiple commands being issued to the same command by the same Step is now logged as an error to the event log.

Bugs Fixed:

  1. Fixed a problem in which trying to write to Command Registers (F16:0-23) through the Indirect Data Map was rejected.
  2. Trying to point an Indirect Data Map entry to the Indirect Data Map is now prevented.
  3. Writing to Command Registers (F16:0-23) from a User Task directly (not using a Command instruction) is no longer allowed.
  4. The current axis for all tasks incorrectly defaulted to Axis0. Task 0 should default to Axis 0, Task 1 should default to Axis 1, and so on. Tasks with no associated axes default to Axis 0.
  5. Fixed a problem in which issuing the Requested Position was not truncated on linear axes to the Position Overtravel Limits if it was out of range. This only affected axes with the Command Modified auto stop was set to 'Status Only'.
  6. Fixed a problem in which relative move commands did not check to see if the resulting requested position was outside the position limits on linear axes.
  7. Fixed a problem in which moves on rotary axes using a direction of Positive, Negative, or Nearest could use the wrong direction if the axis was in motion.
  8. Fixed a target generation fault that could occur if a command was given with a requested speed that exactly matched the current speed.

RMC70 Firmware 1.32 (May 27, 2005)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added a new motion command:
    [RMC70Tools 1.31.0 or newer is required to issue this command.]
    Move Velocity (37):
    This command makes the axis ramp up to and hold a continuous velocity motion profile. Notice that the Target Position is updated at this velocity, and a Position PID is used for the control algorithm.
  2. Added a DF1 protocol option to ignore duplicate packets. By default this option is enabled, as it was in previous firmware releases. Some HMIs require disabling this option.
    [RMC70Tools 1.31.0 or newer is required to change this option.]
  3. Added logging for DF1 requests made on the second serial port.
    [RMC70Tools 1.31.0 or newer is required to view these log entries.]

Bugs Fixed:

  1. Fixed a target generation problem where the target position could overshoot the requested position in cases with low Accel and Decel.
  2. Fixed a problem in which changing a System Tag bit from the User Programs did not work correctly. For example, the following expression did not work:
    _Axis[0].SimulationBits.0 := True
  3. Fixed a problem in which the controller would not communicate with RMC70Tools in some cases where two control axes plus two reference axes were configured.

RMC70 Firmware 1.31 (March 7, 2005)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added support for PLC-5 DF1 communication commands, including PLC-5 Typed Read, PLC-5 Typed Write, PLC-5 Word Range Read, and PLC-5 Word Range Write.

RMC70 Firmware 1.30 (March 4, 2005)

NOTE: Requires RMCTools 1.30.0 or newer.

New or Enhanced Features:

  1. Added support for rotary axes. This is current available on axes with SSI feedback. Each SSI-feedback axis can be configured to be either linear or rotary.
  2. Updated the Move Absolute (20), Time Move Absolute (30), Quick Move Absolute (15), and Open Loop Absolute (11) commands now support different values for their Direction parameter. For linear axes, only Nearest (0) is supported. For rotary axes, Nearest (0), Positive (+1), Negative (-1), and Absolute (+3) are all supported. See the online help for details.
  3. Added support for configuring SSI feedback to be treated as an absolute encoder or as an incremental encoder. Previously, it was always treated as an absolute encoder.
  4. Added a new SSI Count Offset axis parameter. It is intended to be used for adjusting the zero count position on SSI absolute rotary encoders, but can be used on SSI linear encoders as well.
  5. Added several new commands:
    Offset Position (47)
    This allows shifting the Target and Actual Positions simultaneously by a set amount.
    Gear Position (30)
    This command allows gearing a position axis to another axis's position or any other arbitrary register, including User Variables.
    Gear Velocity (31)
    This command allows gearing a position axis to another axis's velocity or any other arbitrary register, including User Variables.
    Enable/Disable Axis (97)
    This command can be used to manually disable an axis. This is necessary when editing certain interrelated parameters directly from the PLC. It is also useful to lock out all motion commands on an axis.
  6. Improvements to Modbus/RTU protocol:
    1. Removed the Preset Single Register (0x06) Modbus/RTU function. This only applies to 16-bit values, which are not present on the RMC70.
    2. Improved Modbus/RTU error checking.
    3. Fixed a bug with the Read/Write Multiple Registers (0x17) Modbus/RTU function, in which the response would have an invalid length.
  7. Improved the Target Generator to take a more direct route in cases where the current axis acceleration was non-zero. This was noticeable in certain Quick Moves and when issuing motion commands while accelerating or decelerating.
  8. Added a Requested Jerk axis parameter. This parameter is currently only used by the Target Generator to choose between S-curve and trapezoidal velocity profiles. To select trapezoidal velocity profiles, set the Requested Jerk parameter to 0. Otherwise, S-curves will be used.
  9. Added limiting of the simulated positions to the limits of the simulated transducer. For example, a simulated MDT-feedback axis will never go under 0 counts.
  10. Added a Direct Output status bit. This bit is set when the axis is disabled or in the Direct Output state.
  11. Certain axis parameters affecting the feedback can now only be changed when the axis is disabled or in Direct Output state. This prevents the axis from reacting to large changes in Actual Position.
  12. Improved the handling of Quick Moves for short distances.
  13. Changed the data type of the Raw Counts axis status register from a REAL to a DINT. This prevents overflows on SSI encoders with a large number of data bits.

Bugs Fixed:

  1. Issuing a RUN Mode (98) command while the controller was already in RUN mode incorrectly reset the one-shot states.

RMC70 Firmware 1.25 (February 7, 2005)

NOTE: Requires RMCTools 1.11.0 or newer.

Bugs Fixed:

  1. Fixed a bug in which reading and writing to DINT variables through the Indirect Data Map yielded incorrect values in both directions.
  2. Fixed a bug in which a superfluous "Value out of range" error could show up in the Event Log on startup.

RMC70 Firmware 1.24 (January 14, 2005)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Writing to the low 16-bits using DF1 is now accepted. This non-standard feature allows EZTouch displays to modify a single bit in a Variable Table register.
  2. Added support for instant error notification in RMC70Tools.
    [RMC70Tools 1.30.0 or newer is required to use this feature.]

Bugs Fixed:

  1. Fixed a bug in which downloading parameters from RMC70Tools to a Reference Axis would generate errors in the Event Log.

RMC70 Firmware 1.23 (November 24, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Improved the noise immunity of the position inputs. Intermittent glitches lasting two (2) or fewer control loops are now ignored. Notice that it is still possible to detect when these glitches occur by monitoring the Input Estimated status bit.

Bugs Fixed:

  1. Fixed a problem in which the controller could reset during Modbus/RTU communications.
  2. Fixed a problem in which Quick Moves could switch to closed loop at the wrong time with an unreasonable acceleration and velocity when transducer noise occurred.

RMC70 Firmware 1.22 (October 27, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

Bugs Fixed:

  1. Corrected the behavior of the Integrator when returning from an Output Saturated condition.

RMC70 Firmware 1.21 (October 22, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

Bugs Fixed:

  1. Corrected a problem in which transitioning from open to closed loop control did not correctly set up the initial integral drive. This results in a potentially large drive discontinuity, and, if no Integral Gain was used, a drive term that would not correct itself.

RMC70 Firmware 1.20 (October 15, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Added the Set Discrete Output (60), Clear Discrete Output (61), and Toggle Discrete Output (62) commands.
    [RMC70Tools 1.20.0 or newer is required to issue these commands.]
  2. Added support for reporting the current time in the Event Log in order to help identify the age of entries in the log.
    [RMC70Tools 1.20.0 or newer is required to make use of this feature.]
  3. Added Event Log entries for DF1 application-level errors to help troubleshoot DF1 problems.
    [RMC70Tools 1.20.0 or newer is required to correctly view these entries.]

Bugs Fixed:

  1. The PROFIBUS Basic+ and Enhanced+ modes did not require consistency over the entire block for the expanded readback registers. This is required for 32-bit registers, and is now required by the RMC75P.
    [Requires version 1.1 or new of the GSD files (DELT07E1.GSD).]

RMC70 Firmware 1.14 (September 21, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Added support for release RMC75P CPU modules.
  2. Introduced a PC serial overrun avoidance feature that should allow RMC70Tools to communicate, albeit more slowly, with PCs that are susceptible to serial overruns at 38400 baud.

Bugs Fixed:

  1. Fixed a bug in which the Opposite Pressure/Force Orientation mode did not work correctly.
  2. Fixed the computation of the Pressure/Force Integral Output Term status register.
  3. Fixed the handling of one DF1 full-duplex serial protocol error to match the DF1 specification and ensure better recovery.

RMC70 Firmware 1.13 (August 26, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

Bugs Fixed:

  1. Fixed a bug that kept PROFIBUS communications from working in Beta RMC75P CPU modules.

RMC70 Firmware 1.12 (July 29, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Added support for a large number of axis types:
    Control Axis Types
    1. Position Control
    2. Position-Pressure Control
    3. Position-Force (single-input) Control*
    4. Position-Force (dual-input, differential) Control*
    5. Pressure Control*
    6. Force (single-input) Control*
    7. Force (dual-input, differential) Control*
    8. Output Only*
    Reference Axis Types
    1. Position Reference*
    2. Velocity Reference*
    3. Pressure Reference*
    4. Force (single-input) Reference*
    5. Force (dual-input, differential) Reference*
    [*RMC70Tools 1.15.0 or newer is required to select these types.]
  2. Added support for the EXP70-AP2 and EXP70-A2 expansion modules.

Bugs Fixed:

  1. Fixed a bug in which a plot being uploaded by RMC70Tools could be interrupted before completion.
  2. Fixed a bug in which the state for a Task could be reported incorrectly.
  3. Fixed a bug in which the Output Saturated error bit did not get set when in closed loop control, even when the output was saturated at the limit.

RMC70 Firmware 1.11 (June 15, 2004)

NOTE: Requires RMCTools 1.11.0 or newer.

New or Enhanced Features:

  1. Added support for the EXP70-D8 expansion module. See the RMC70Tools release notes and/or User Manual for details on using this module.
  2. Added support for assigning a discrete input to control whether the controller is in RUN or PROGRAM mode. A rising edge on this input will put the controller in RUN mode and a falling edge on this input will put the controller in PROGRAM mode. Notice that this input may either be any general discrete input (for example, from a D8 expansion module), OR any otherwise unused axis Fault input.
  3. Added a new system tag named "_FirstScan". This tag can be used in the PreScan Table to start one or more tasks when the controller enters RUN mode.
  4. Added support for accessing individual bits within any register with a DWORD type from the User Programs. Examples of registers with this type include Axis Status and Error Bits, discrete I/O state and setup registers, and variables set up with the DWORD data type.
  5. Added support for the "ROL" and "ROR" operators in User Program expressions.
  6. Added support for the following mathematical functions in User Program expressions: LN, LOG, EXP, SIN, COS, TAN, ASIN, ACOS, and ATAN. All are IEC 61131-3 compliant.
    [RMC70Tools 1.15.0 or newer is required to enter these functions.]

Bugs Fixed:

  1. Fixed a problem in which certain Users Programs could cause the RMC70 controller to restart into the loader.

RMC70 Firmware 1.10 (May 7, 2004)

NOTE: Requires RMCTools 1.10.0 or newer.

New or Enhanced Features:

  1. Enhanced the Event Log to include entries for (1) axes halts, (2) User Program activities.
  2. Added two new Programming options: (1) optionally stop all tasks when any axis is halted, and (2) selection for whether the controller powers up in RUN or PROGRAM mode.
  3. Changed the Initialize Axis (7) command to Initialize Axes (7) so that the command only needs to be issued once to initialize all axes.
  4. Added several commands:
    RUN Mode (98)
    This command puts the controller in RUN mode. When the controller is in RUN mode, the Controller LED is solid Green, the PreScan table is scanned, and tasks can be started and stopped. This command also performs the equivalent of a Initialize Axes (7) command.
    PROGRAM Mode (99)
    This command puts the controller in PROGRAM mode. When the controller is in PROGRAM mode, the Controller LED flashes Green, the PreScan table is inactive, and no tasks are allowed to run.
    Fault Controller (8)
    This command puts the controller in PROGRAM mode and halts all axes using an Open Loop with Disable Output halt.
  5. Changed the method in which the input feedback polarity is reversed. Previously, a separate Axis Parameter controlled this, but in 1.10 and newer firmware, the Position Scale is simply negated.

Bugs Fixed:

  1. Fixed an issue in which an Open Loop Rate (10) command could proceed even if all halt conditions could not be cleared.
  2. For analog feedback transducers, the Actual Position did not saturate when there was a Transducer Overflow error. This was primarily cosmetic, as the error bit would still turn on correctly.
  3. Halt-conscious move commands could be prevented even if the Auto Stop behaviors for all currently-set error bits are all set to Status Only.

RMC70 Firmware 1.04 (April 15, 2004)

NOTE: Requires RMCTools 1.03.0 or newer.

New or Enhanced Features:

  1. Added support for RMC75S 2.0 CPU modules.
  2. Improved the smoothness of the Control Output during a transition from Open Loop to Closed Loop.

RMC70 Firmware 1.03 (March 10, 2004)

NOTE: Requires RMCTools 1.03.0 or newer.

Bugs Fixed:

  1. Fixed a bug in which writing to a Variable could cause unexpected behavior from the controller.

RMC70 Firmware 1.02 (March 5, 2004)

NOTE: Requires RMCTools 1.03.0 or newer.

First official release.