Firmware Updates
New feature for Rev 2.0h February 1998:
Feature Description
1. CMDERR enhanced to support multitasking If CMDERR occurs on thread 1,2 or 3, thread will be holted.
Thread can be re-started with
XQ_ED2,_ED1, 1 for retry
XQ_ED3,_ED1, 1 for next instruction
2. _VM returns instantaneous commanded vector velocity
3. FA resolution increased to 0.25.
New feature for Rev 2.0g November 1997:
Feature Description
1. CR radius now has range of 16 million Allows for large circular interpolation radii
2. _AB returns abort input Allows for monitoring of abort input
3. CW,1 When output FIFO full application program will not
pause but data will be lost
Allows for output FIFO buffer to fill up without affecting the
execution of a program
4. List Variable (LV), List Array (LA), List app program
labels (LL)
Allows for the user to interrogate Ram
New feature for Rev 2.0e May 1997:
Feature Description
1. ER now accepts argument < 0 Disables error output (LED and Error Output does not turn on
for that axis)
2. During a PR decel can now be changed on an unnatural stop Allows for monitoring of abort input
New feature for Rev 2.0d February 1997:
Feature Description
1. AP, MF, MR in stepper now uses _DE instead of _RP Trippoints based on register after buffer
2. \ now terminates QD Download array no longer requires control sequence to end
3. KS can now be fraction (down to .5) Allows for smaller stepper motor smoothing delay (due to filter)
4. New arguments for MT of 2.5 and -2.5 Reverses the direction of motion from MT 2 and MT -2
5. MG now can go to 80 characters
Increased message size
New feature for Rev 2.0c October 1996:
Feature Description
1. MC now works for steppers More accurate trippoint for stepper motor completion
New feature for Rev 2.0b September 1996:
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