DCX-PCI100 Firmware Revision History Copyright 2000-2001 Precision MicroControl Corp. All Rights Reserved Software Notes: 1. Heart beat timer period is set in function init_hbt(). This is found in source code file: RTEMS\RTEMS-X.X.X\C\SRC\EXEC\SCORE\CPU\MIPS64ORION\CPU_ASM.S. DCX-PCI100 Code split from DCX-PCI300 Rev. 1.2a Changes for Rev. 0.1a =============================================================================== 6/21/01 For sequence commands, fixed skipping of commands with string parameters. In previous code command executor didn't update the string parameter size variable as it advanced the command indices. E. Tong Functional changes and fixes from PC100: 1. Motor table including status words are same as PCI300 and different from PC100 2. Velocity and acceleration are entered as user units instead of controller units 3. All timer unit default is in second instead of millisecond (WA, DT, WS, etc,.) 4. In both position and velocity mode, after ST or AB interrupted the motion before it completed, GO command will resume the motion without any other additional commands. 5. MA or MR will not start the motion if it is in velocity mode. 6. Do not clear motor on flag when limit switch stop option is either Smooth or Abrupt to reflect the real motor status. Add checking for motor error bit to prevent motion start before the error is cleared. Display error code "-13" if motion could not start due to a motor error. 7. Wait for Relative (WR) command does not need to have a delay in between the move command and WR itself. It internally uses LM628 wait for absolute command and calculates the breakpoint as relative to the target to prevent the timing issue of the current target update. 8. Fixed a limit switch control problem when motion is changing direction during the period of slowing down and stop before actually moving in reversed direction. It was not detecting the correct limit switch. 9. Modified the motor table status trajectory bit to be kept high and ignore the lm628 bit after reset the controller before motor is turned on. This will prevent the false massage being generated by API function of MCDLG_ConfigureAxis and MCDLG_RestoreAxis when checking whether the motor is moving or not to allow save of restore the axis parameters. New features added: 1. New reporting commands: TS32, TS33, TS34, TS35, TE 2. LU command 3. User units (US, UZ, UO, UT, UR) (No UK) 4. Soft limit check (LN, LM, HL, LL, LF) 5. Wait for target (WT, DB (position deadband) and DT (delay at target)) 6. Position recording: (PR, DY, RI, DO, DR) (No DQ) 7. Gain Mode used for tuning (GM) 8. Multi task (GT, ET) 9. New register commands (AD, AV, RD, RV, WD, WV) 10. New miscellaneous commands (FD, FT, OT, OD, DW, PC) 11. Get default axis (GU) and module ID (GD) 12. Set up default PID and trajectory parameters at power up and reset. Parameters Default Proportional gain: 50 Integral gain: 1 Integration limit: 10 Derivative gain: 10 Derivative sampling frequency: 0 Max.following error: 1024 Programmed velocity: 10000 Programmed acceleration: 10000 13. Added new feature to handle amplifier fault trip to stop in three different modes (similar to limit switch control): fn0 - turn motor off (same as before) fn1 - stop abruptly fn2 - stop smoothly Invert input option +128 The stop mode can be displayed in TS33. Assigned the following bits in auxiliary status word: amplifier fault stop abruptly bit 26 amplifier fault stop smoothly bit 27 amplifier fault input invert bit 28 Changes for Rev. 0.2a =============================================================================== 10/08/01 Beta release version number Changes for Rev. 0.2b =============================================================================== 10/11/01 Added feature of single stepping MCCL program ability Added "AXISNUM = Axis Number (short)" that exists in HE1 to LU variable list 01/03/02 Fixed target calculation with scaling. It was always off by 1. 01/03/02 Fixed DH command to clear lm628 internal latched target to prevent unpredicted movement. Changes for Rev. 0.cb =============================================================================== 08/01/02 Fixed limit control logic with negative user scale setting. Fixed set velocity and set acceleration parameter limit checking with negative user scale setting. 11/01/02 Modified PID default values Parameters Old Default New Default Proportional gain: 50 500 Integral gain: 1 0 Integration limit: 10 10 Derivative gain: 10 500 Derivative sampling frequency: 0 0 Max.following error: 1024 1024 Programmed velocity: 10000 12000 Programmed acceleration: 10000 6000 Changes for Rev. 1.0a =============================================================================== 04/02/02 Removed PID default values 04/02/02 Added internal delay before completing MN or MF command to make sure commands are passed to lm628 properly before accepting other commands. End of Revision History