Manuals/Firmware 6.xx Revision History

This is a revision history of Firmware 6.xx. Major changes that affect user experience are shown here.

NOTE: Firmware 6.xx runs on A-Series devices and X-Series devices with green power connectors. For T-Series products, please see Firmware 5.xx Revision History. For X-Series devices with black power connectors, please see Firmware 7.xx Revision History.

Version 6.32

Released 23 July 2020

Fixed: Lockstep motion commands are no longer accepted on a parked device

If a device has been parked with the ACSII tools parking or the Binary Set Park State command, lockstep move, lockstep stop, and lockstep estop commands are no longer accepted and are rejected with the PARKED reply flag.

Previously, all lockstep commands were accepted on a parked device. Issuing a lockstep move command while parked would result in undesired behaviour.

Fixed: Lockstep tolerance value is now reset on a resolution change

When setting a new resolution, the ASCII setting lockstep.tolerance is now reset to its default value of 0.

Previously, the setting value was not altered during a resolution change. This had the effect of unintentionally changing the tolerance, since it was not scaled along with the resolution change.

Version 6.31

Released 11 October 2019

Change: X-DMQ-DE stages disable drivers after overheating

If driver.temperature reaches 70°C on a voice coil stage, the driver will disable itself. Once the stage has cooled down, send system reset to re-enable the driver.

Change: Delay before using encoder input

Previously, some devices ignored encoder input for 3 seconds after power-up to allow time for the encoder to initialize. This now applies to all devices with encoders. If the axis is moved within the first 3 seconds, the encoder input will be ignored (and the axis will run in open-loop) until the motion completes.

Change: New default knob.maxspeed on VSR products

On the X-VSR and VSR peripherals, the default value of knob.maxspeed has been changed from 153,600 to 185,000 to help avoid a resonant frequency when controlling the axis with the knob.

Change: Stop immediately when a lockstep detects excessive twist

Previously, when a lockstep experienced excessive twist, the axes would stop while respecting their deceleration limits. As of this change, the deceleration is not limited (which is equivalent to sending an estop command).

Fixed: Streamed motion now sends completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), an alert message is sent. In addition, if a stream axis was previously IDLE, disabling the stream will no longer cause the axis to become BUSY.

Fixed: Binary command Read Analog Input (Cmd 76) now returns the correct error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message now contains the correct error code (76, Analog Input Pin Invalid).

Fixed: Interrupting stream arc motions involving negative positions no longer loses position reference

Previously a bug in the stream command meant that an arc involving negative positions could result in an incorrect position reference. This has been fixed.

Version 6.30

Released 28 February 2019

Fixed: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Change: System restore command now sets WR warning flag

When sending the system restore command, the WR warning flag is now set. This change is consistent with WR being set when the resolution setting is changed, which may happen when system restore is executed.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.29

Released 29 August 2018

Fixed: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Change: X-JOY3 to support greater speed values

When configuring the X-JOY3 joystick axes, the allowable maximum speed values has been increased from 4194304 to 2147483647.

This change allows the X-JOY3 joystick to be used with new products requiring speed values greater than 4194304.

Change: Adjusted VBUS voltage threshold on A-MCB2, X-MCB1, X-MCB2

The VBUS voltage threshold for the integrated USB ports on the A-MCB2, X-MCB1 or X-MCB2 controllers has been adjusted.

This change reduces the chance of premature USB port disconnection when the VBUS voltage drops while staying within acceptable voltage range.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.98.1370

Released 02 February 2018

This is a product support release for the X-RSB060, X-RSB060-E, RSB060 and RSB060-E product lines. The build number 1370 can be queried from the ASCII setting version.build.

This version is feature compatible with 6.28 and can be upgraded to newer versions.

Fixed: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Version 6.98.1364

Released 18 January 2018

This is a product support release for the X-RSB060, X-RSB060-E, RSB060 and RSB060-E product lines. The build number 1364 can be queried from the ASCII setting version.build.

This release also addresses a condition where the integrated USB port on an A-MCB2, X-MCB1 or X-MCB2 may prematurely disconnect when the VBUS voltage drops while being within acceptable range.

This version is feature compatible with 6.28 and can be upgraded to newer versions.

Version 6.28

Released 30 October 2017

New Feature: Stream action to toggle digital outputs

The stream feature now supports the stream io toggle do command.

Change: X-LRT default run current setting

The default value for driver.current.run has been lowered from 100 to 80 on all X-LRT-C and X-LRT-EC products.

Change: X-VSR-SV and VSR-V default hold current setting

The default value for driver.current.hold has been increased from 0 to 5 on all X-VSR-SV and VSR-V products.

Change: X-LRT1500 default knob maxspeed setting

The default value for knob.maxspeed has been lowered from 250000 to 200000 on all X-LRT1500 products.

Fixed: Incorrect encoder configuration on X-BLQ-EL families

Internal configuration has been corrected on X-BLQ-EL products.

In previous versions, the encoder has been configured to increment in the direction opposite of motor travel, resulting in erroneous stall detection.

A-BLQ-E / A-BLQ-EL families and peripheral BLQ-E / BLQ-EL families are not affected.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.98.1332

Released 20 September 2017

This is a product support release for the LRT-C, and LRT-EC product lines. The build number 1332 can be queried from the ASCII setting version.build.

This version is feature compatible with 6.27 and can be upgraded to newer versions.

Version 6.98.1328

Released 12 September 2017

This is a product support release for the following product lines:

• X-BLQ-EL
• X-LRT-C, X-LRT-EC
• X-RSM-SV, RSM-V
• X-RST-DE (rev 2), RST-DE (rev 2)
• X-VSR-SV, VSR-V

The build number 1328 can be queried from the ASCII setting version.build.

This version is feature compatible with 6.27 and can be upgraded to newer versions.

Change: X-LRT default run current setting

The default value for driver.current.run has been lowered from 100 to 80 on all X-LRT-C and X-LRT-EC products.

Fixed: Incorrect encoder configuration on X-BLQ-EL families

Internal configuration has been corrected on X-BLQ-EL products.

In previous versions, the encoder has been configured to increment in the direction opposite of motor travel, resulting in erroneous stall detection.

A-BLQ-E / A-BLQ-EL families and peripheral BLQ-E / BLQ-EL families are not affected.

Version 6.98.1318

Released 31 July 2017

This is a product support release for the new X-LRT-C, X-LRT-EC, and X-VSR-SV product lines. The build number 1318 can be queried from the ASCII setting version.build.

This version is feature compatible with 6.27 and can be upgraded to newer versions.

Version 6.27

Released 13 June 2017

Change: Updates to RSM family default settings

Default settings of all X-RSM and RSM products have been adjusted:

• Travel directions have been reversed.
• maxspeed and knob.maxspeed have been increased to 250000.

Change: Default stall timeout change in X-LRQ-E with H drive screw option

Default value for cloop.stalltimeout and Set Stall Timeout (Cmd 120) is lowered to 10 ms from 100 ms on X-LRQ-E with H drive screw option.

Fixed: Encoder products can get warm if closed-loop mode is disabled

See description at Version 6.26 for details.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.98.1287

Released 24 April 2017

This is a product support release with internal changes and bugfixes. The build number 1287 can be queried from the ASCII setting version.build.

This version is feature compatible with 6.26 and can be upgraded to newer versions.

Fixed: Encoder products can get warm if closed-loop mode is disabled

See description at Version 6.26 for details.

Version 6.26

Released 03 March 2017

Change: Encoder error LED indication to match FQ warning flag state

The encoder error LED indication pattern now persists until the FQ warning flag is cleared by the warnings clear command.

Previously, the error LED indication is active only when the encoder is experiencing an error. In the scenario where the encoder triggers the error fault momentarily, the LED returns to unlit state while the FQ warning flag persists. This change improves consistency between the visual indication and the warning flag behaviour. This change also improves visual information in applications where continuous observation of the device is not feasible during operation.

An encoder error occurs if the firmware detects a fault in the encoder system. See FQ warning flag for description on the error.

Improvement: 2-axis controller performance

Optimizations have been applied on the X-MCB2 and A-MCB2 controllers for the following applications:

• Moving 2 encoder-enabled peripherals.
• Executing stream commands.
• Actively polling device for status.
• Communicating via integrated USB interface.

These optimizations allow smoother actuation when device is under heavy computational load.

Fixed: Move sin command accepts invalid period

The ASCII move sin command now rejects period less than 0.2 ms.

Previously, a period less than 0.2 ms is accepted. The axis does not move if the period is 0.1 ms. A period of 0 ms could result in non-deterministic behaviour.

Fixed: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

Known Issue: Encoder products can get warm if closed-loop mode is disabled

An idle device or peripheral with a built-in encoder (E or DE option) outputs run current instead of hold current when any of the following conditions occur:

• cloop.mode (T:118) is 0 when the device is power cycled.
• cloop.mode (T:118) is 0 when /set pos (T:45) is executed.
• cloop.mode (T:118) is 0 when /tools parking unpark (T:65:0) is executed.

On external controllers, this issue only occurs if encoder.mode is non-zero.

Workaround

Any of the following will resolve this issue and allow the axis to output hold current.

• Use cloop.mode (T:118) 1 or 2 instead, if applicable.
• (External controllers only) Set encoder.mode to 0 after setting cloop.mode to 0.
• Execute the following sequence to temporarily fix the issue:
  1. Set cloop.mode (T:118) to a non-zero value.
  2. Wait for 3 seconds, OR home (T:1) the axis and wait for its completion.
  3. Set cloop.mode (T:118) back to 0. The axis can now output hold current, until any of the above conditions triggers the issue again.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.98.1243

Released 03 March 2017

This is a patch released for X-MCB2 and A-MCB2 controllers. The build number 1243 can be queried from the ASCII setting version.build.

This version applies optimizations to X-MCB2 and A-MCB2 firmware to improve their performance when moving 2 axes. Performance when moving 2 encoder-enabled peripherals, running stream commands, actively polling for device status, and/or using the integrated USB communication port has been improved.

This version is feature compatible with 6.25 and can be upgraded to newer versions.

Version 6.25

Released 23 November 2016

Change: ASCII settings now readable regardless of access levels

All ASCII settings are now readable regardless of the current device access level.

Writing to settings with Advance write access level still requires system.access to be set to 2.

Change: Lowered default limit sensor detection speed on LRQ and LST devices

The default value for ASCII setting limit.detect.maxspeed has been lowered to 4800 to improve homing repeatability on the following products:

• X-LRQ-DE, X-LRQ-DEC, X-LRQ-E, X-LRQ-EC (Lead screw options A and B only)
• A-LST, A-LST-C, A-LST-E
• LRQ-DE, LRQ-DEC, LRQ-E, LRQ-EC (Lead screw options A and B only)
• LST, LST-E

Change: Lowered default acceleration on BLQ devices with a travel length of 3000

The default values for ASCII settings accel, motion.accelonly, and motion.decelonly are lowered to 250 on the following products:

• X-BLQ3000-E01, A-BLQ3000-E01

Fixed: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) now remembers the setting over power cycle.

Fixed: ASCII command move sin stop does not set NI warning flag

If an executing motion command is interrupted by the ASCII command move sin stop, the warning flag NI is now set to indicate the interruption.

Known Issue: Move sin command accepts invalid period

A minimum period of 0.2 ms is supported for a sinusoidal motion. The ASCII move sin command accepts period values outside of supported range.

The axis does not move if the period is 0.1 ms. A period of 0 ms could result in non-deterministic behaviour.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.24

Released 14 July 2016

New Feature: Linear encoder calibration

This feature improves positioning accuracy on products equipped with linear encoders.

Encoder calibration is enabled by default with factory-preloaded calibration data.

Change: Unexpected limit trigger warning flag

The Unexpected Limit Trigger (WL) warning flag is now set:

• when any automatic limit sensor action is triggered, and
• the No Reference Position (WR) warning flag is not present.

Prior to version 6.24, this warning flag is set:

• if an automatic limit sensor action is triggered on the home or away sensor,
• the respective sensor has been previously triggered (i.e. limit.sensor.triggered is 1), and
• the respective limit.sensor.action is 2-3, or limit.sensor.posupdate is 1-2.

Change: cloop.steps and cloop.counts now readable on integrated devices

ASCII settings cloop.steps and cloop.counts are now available as read-only settings on integrated devices with built-in encoders.

Prior to 6.24, these settings are only available on external controller products.

Known Issue: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) only affects the current session of operation.

After resetting the device via power cycling or the Reset (Cmd 0) command, user must reissue the Set Axis Inversion (Cmd 27) command to update its setting value.

If you require the setting to persist over power cycles, please contact us for an alternative workaround.

Known Issue: ASCII command move sin stop does not set NI warning flag

The warning flag NI is not set when the ASCII command move sin stop interrupts an executing motion command.

Known Issue: Move sin command accepts invalid period

A minimum period of 0.2 ms is supported for a sinusoidal motion. The ASCII move sin command accepts period values outside of supported range.

The axis does not move if the period is 0.1 ms. A period of 0 ms could result in non-deterministic behaviour.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.23

Released 11 May 2016

New Feature: ASCII command Sinusoidal motion

A new command which allows movement in a sinusoidal path, move sin, is added to the ASCII protocol.

New Feature: Trigger action for stream setup

The trigger feature now supports the action command stream setup live.

Note that the trigger action fails unless all specified axes have been homed.

New Feature: Move to next index with knob

If knob.mode is set to 1 and knob.distance is set to 0, each step of the knob moves the axis to the next index position.

Index positions are specified by motion.index.dist. See move index for more details on index positions.

New Feature: Binary command Move Index

Moving to index positions is now supported in the Binary protocol with the Move Index (Cmd 78) command.

New Feature: ASCII setting motion.index.num

If the current position is an index position, the index number can be retrieved by /get motion.index.num.

Change: encoder.count now a 64-bit value

/get encoder.count and /set encoder.count now support 64-bit values.

The ASCII setting encoder.counth is no longer required and has been removed in this version.

Change: Binary command Set Calibration Mode is now Set Joystick Calibration Mode

The Binary command Set Calibration Mode (Cmd 33) has been renamed to Set Joystick Calibration Mode (Cmd 33) in protocol manuals.

No user action is required as there is no change in functionality or command number.

Known Issue: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) only affects the current session of operation.

After resetting the device via power cycling or the Reset (Cmd 0) command, user must reissue the Set Axis Inversion (Cmd 27) command to update its setting value.

If you require the setting to persist over power cycles, please contact us for an alternative workaround.

Known Issue: ASCII command move sin stop does not set NI warning flag

The warning flag NI is not set when the ASCII command move sin stop interrupts an executing motion command.

Known Issue: Move sin command accepts invalid period

A minimum period of 0.2 ms is supported for a sinusoidal motion. The ASCII move sin command accepts period values outside of supported range.

The axis does not move if the period is 0.1 ms. A period of 0 ms could result in non-deterministic behaviour.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Axes may slow down abruptly during a stream arc segment

When executing a stream arc motion, the axes may slow down abruptly at the 45°, 135°, 225°, or 315° positions (45° angle from axis 1 or axis 2).

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Known Issue: Interrupting stream arc motions involving negative positions can destroy position reference

If the following conditions occur at the same time:

• a stream arc motion is in progress,
• the current absolute position of one of the axes is negative, and
• the motion is interrupted (e.g. by another command, a knob press, a slip, or a stall),

then any subsequent attempt to move the axis may result in motion in the negative direction.

Version 6.22

Released 11 May 2016

This is a product support release with internal changes and bugfixes. There is no new feature or significant change from previous versions.

Version 6.21

Released 25 February 2016

New Feature: New limit action value

ASCII settings limit.sensor.action now support a new value of 3. When set to this value, the limit sensor triggers the retract-and-update action only when there is no reference position.

New Feature: Move to index position

A new ASCII motion command move index allows moving the axis to indexed positions separated by a fixed distance motion.index.dist.

Fixed: Encoder filter now disabled by default on X-RST120AK-DE50 and RST120AK-DE50T3

ASCII setting encoder.filter now defaults to 0 on X-RST120AK-DE50 and RST120AK-DE50T3 to ensure accurate positioning. Users of these products are recommended to upgrade to version 6.21 or greater.

Change: New format used in info messages sent from key info command

ASCII command key info now returns info messages that begin with the text "cmd".

Example:

/1 key 4 1 info

@01 0 OK IDLE -- alerts disabled

#01 0 cmd 02 0 stream 1 setup disable

#01 0 cmd 02 0 stream 1 setup live 1 2

#01 0 cmd 02 0 stream 1 call 1

Prior to version 6.21:

/1 key 4 1 info

@01 0 OK IDLE -- alerts disabled

#01 0 02 0 stream 1 setup disable

#01 0 02 0 stream 1 setup live 1 2

#01 0 02 0 stream 1 call 1

Known Issue: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) only affects the current session of operation.

After resetting the device via power cycling or the Reset (Cmd 0) command, user must reissue the Set Axis Inversion (Cmd 27) command to update its setting value.

If you require the setting to persist over power cycles, please contact us for an alternative workaround.

Known Issue: ASCII command move sin stop does not set NI warning flag

The warning flag NI is not set when the ASCII command move sin stop interrupts an executing motion command.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Version 6.20

Released 21 January 2016

Change: Binary message timeout duration

The Binary message timeout has been updated to 10ms to match specification in the Binary protocol manual. This timeout was previously 6.7 ms.

New Feature: ASCII setting limit.cycle.dist

A new ASCII setting limit.cycle.dist has been added. This setting specifies the number of microsteps a rotary axis needs to move to complete a full rotation.

Known Issue: Default encoder filter is too restrictive on X-RST120AK-DE50 and RST120AK-DE50T3

When running the X-RST120AK-DE50 and RST120AK-DE50T3 stages, the default encoder.filter value of 64 is too restrictive and can result in incorrect positioning. This is most likely to occur at high speeds or after long moves.

Workaround: Set encoder.filter to 0.

Known Issue: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) only affects the current session of operation.

After resetting the device via power cycling or the Reset (Cmd 0) command, user must reissue the Set Axis Inversion (Cmd 27) command to update its setting value.

If you require the setting to persist over power cycles, please contact us for an alternative workaround.

Known Issue: ASCII command move sin stop does not set NI warning flag

The warning flag NI is not set when the ASCII command move sin stop interrupts an executing motion command.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Version 6.19

Released 23 December 2015

New Feature: I/O functionality via Binary Protocol

I/O pins can now be controlled via Binary Protocol. Refer to command 67-77 in the Binary Protocol Manual for command details.

New Feature: ASCII setting cloop.displace.tolerance

This setting is available on encoder-embedded products and external controllers. The setting allows fine tuning of the displacement sensitivity on an axis. See cloop.displace.tolerance for setting details.

New Feature: ASCII setting limit.start.pos

This setting is available on external controllers and some integrated devices. The setting configures the position of an axis upon power up. See limit.start.pos for setting details.

Fixed: Stationary axis switches to run current momentarily when issued a stop command

When an ASCII stop or Binary Stop (Cmd 23) command is given, a stationary axis will now remain at hold current instead of switching to running current momentarily.

Fixed: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) now configures driver and encoder direction correctly on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, LAR300APC-E01T3, and RSB120AU-E01T3 peripherals.

Known Issue: Default encoder filter is too restrictive on X-RST120AK-DE50 and RST120AK-DE50T3

When running the X-RST120AK-DE50 and RST120AK-DE50T3 stages, the default encoder.filter value of 64 is too restrictive and can result in incorrect positioning. This is most likely to occur at high speeds or after long moves.

Workaround: Set encoder.filter to 0.

Known Issue: Binary command Set Axis Inversion (Cmd 27) does not persist over power cycle

On the X-JOY3 joystick, Binary command Set Axis Inversion (Cmd 27) only affects the current session of operation.

After resetting the device via power cycling or the Reset (Cmd 0) command, user must reissue the Set Axis Inversion (Cmd 27) command to update its setting value.

If you require the setting to persist over power cycles, please contact us for an alternative workaround.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Known Issue: Binary command Read Analog Input (Cmd 76) returns wrong error code

When an incorrect pin number is provided to the binary command Read Analog Input (Cmd 76), the resulting error message contains the incorrect error code. The error message will contain error code 71, Digital Output Pin Invalid, but it should contain error code 76, Analog Input Pin Invalid.

Version 6.18

Released 04 September 2015

Fixed: Setting low stall timeout and moving slowly can stall products with built-in direct encoders

A slow moving axis equipped with built-in encoder no longer stalls when cloop.stalltimeout or Set Stall Timeout (Cmd 120) is set to a short duration.

Fixed: Trigger actions move min and move max do not fire if axis is already moving

The trigger actions move min and move max now fire as expected.

New Feature: Virtual axis

This feature allows motion along an easily configurable direction at an angle between two axes.

Refer to the virtual command for detailed descriptions and usages.

New Feature: Remote firmware update

This feature allows devices to update to newer firmware versions remotely, without requiring the device to be returned to factory. See the manual here for specific device compatibility and details of this feature.

Change: Warning flag for excessive twisting during lockstep move

The warning flag FT is set when a lockstep motion is terminated due to twist exceeding set tolerance (see lockstep and lockstep.tolerance).

This warning flag persists until it is cleared by the warnings clear command.

Change: Read-only settings encoder.pos and encoder.error now available on integrated devices with built-in motor encoders

The read-only settings encoder.pos and encoder.error are now available on all products supporting encoders, including integrated devices with built-in motor encoders.

Change: Default stall timeout change in X-series motion products

Default value for cloop.stalltimeout and Set Stall Timeout (Cmd 120) is lowered to 100 ms from 500 ms.

This change only affects X-series products of which default value is 500 ms in previous versions.

Change: Stop and estop commands now supported on lockstepped axes

Axes assigned to a lockstep set now accept and interpret the stop and estop commands as lockstep stop and lockstep estop.

In previous versions, the stop and estop commands are rejected by lockstepped axes.

Change: RST120AK-DE50T3 encoder error detection now enabled by default on supported controllers

Default value for limit.d.type is now 3 on the A-MCB2, X-MCB1, and X-MCB2 motor controllers. The default value is 0 in previous versions.

Known Issue: Stationary axis switches to run current when issued a stop command

A stationary axis will momentarily switch to run current when given an ASCII stop or Binary Stop (Cmd 23) command.

Known Issue: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) configures driver and encoder direction to opposite of each other on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, LAR300APC-E01T3, and RSB120AU-E01T3 peripherals. Device behaves as if the axis were stalling whenever the axis is executing a movement.

Workaround: Configure peripheral using ASCII settings driver.dir and encoder.dir.

Known Issue: Default encoder filter is too restrictive on X-RST120AK-DE50 and RST120AK-DE50T3

When running the X-RST120AK-DE50 and RST120AK-DE50T3 stages, the default encoder.filter value of 64 is too restrictive and can result in incorrect positioning. This is most likely to occur at high speeds or after long moves.

Workaround: Set encoder.filter to 0.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.17

Released 20 August 2015

Fixed: Trigger action "move stored" moves to incorrect stored position

When a trigger action is set to move stored number, the device now moves to the correct stored position of number instead of (number+1).

Fixed: X-RST120AK-DE50 cannot use full travel range with position correction enabled

The device can now move beyond the positions of -763549741 to 763549741 at default resolution of 64 (the range scales with resolution and is -11930464 to 11930464 if resolution is 1).

Fixed: Device freezes at stream arc or circle if maxspeed is too low

Device no longer stops and remains BUSY during a stream arc or stream circle motion if stream maxspeed is set to a very low value.

Fixed: Spontaneous limit sensor hit during lockstep motion may not home properly

When hitting a limit sensor whose limit.sensor.action is nonzero during a lockstep move motion (i.e. not using the home, tools gotolimit, tools findrange, or lockstep home commands), the homing algorithm now works properly.

Fixed: Trigger time feature not functioning on X-MCB1

trigger time on X-MCB1 now toggles the digital output properly.

Fixed: Incorrect system.axiscount on X-JOY3

system.axiscount on X-JOY3 now returns 0 as expected, as opposed to 1 in previous version.

Fixed: Key alerts rejected for nonexistent keys on X-JOY3

key alerts can no longer be set for out of bounds key values on the X-JOY3. Attempts will be rejected with BADDATA.

Change: Encoder count is now 48-bit

A new setting encoder.counth is added as the higher bytes to encoder.count.

encoder.counth is incremented or decremented when encoder.count exceeds 2147483647 or -2147483648, respectively.

Using the set command on encoder.count will force encoder.counth to 0, or -1 if encoder.count is negative.

Change: Key command replies FULL when out of permanent storage

When saving commands to a joystick key with the key command and the device has run out of permanent storage, the reply message data is now FULL instead of BADDATA.

Change: Warning NJ set during joystick calibration

The warning NJ is returned when joystick calibration is in progress. It persists until calibration mode has been exited with the save command.

Known Issue: Setting low stall timeout and moving slowly can stall products with built-in direct encoders

An axis equipped with built-in encoder can stall when cloop.stalltimeout or Set Stall Timeout (Cmd 120) is set to a short duration. The chance of stalling increases when moving at a low speed.

Workaround: If an application requires movement speeds lower than 100000 (61035 microsteps/sec), a duration above 100 ms is recommended for cloop.stalltimeout or Set Stall Timeout (Cmd 120).

Known Issue: Trigger actions move min and move max do not fire if axis is already moving

The trigger actions move min and move max are ignored if axis is executing another motion.

Known Issue: Stationary axis switches to run current when issued a stop command

A stationary axis will momentarily switch to run current when given an ASCII stop or Binary Stop (Cmd 23) command.

Known Issue: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) configures driver and encoder direction to opposite of each other on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, LAR300APC-E01T3, and RSB120AU-E01T3 peripherals. Device behaves as if the axis were stalling whenever the axis is executing a movement.

Workaround: Configure peripheral using ASCII settings driver.dir and encoder.dir.

Known Issue: Default encoder filter is too restrictive on X-RST120AK-DE50 and RST120AK-DE50T3

When running the X-RST120AK-DE50 and RST120AK-DE50T3 stages, the default encoder.filter value of 64 is too restrictive and can result in incorrect positioning. This is most likely to occur at high speeds or after long moves.

Workaround: Set encoder.filter to 0.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.16

Released 15 April 2015

New Feature: driver.current.max setting

The read-only setting driver.current.max has been added, which indicates the maximum current setting the device can support.

Fixed: Slow streaming movements don’t set ND

The ND warning flag is now set properly.

Fixed: Move min/max do nothing if already past limit

The move min and move max commands now move back to the limit if executed beyond the limit.

Fixed: Trigger show command shows wrong trigger count for finite triggers

The trigger show command now shows the number of trigger fires remaining.

Fixed: Spontaneous limit sensor hit may not home properly

When hitting a limit sensor whose Manuals/ASCII Protocol Manual#limit.n.action is nonzero during normal motion (i.e. not using the home, tools gotolimit, tools findrange, or lockstep home commands), the homing algorithm now works properly.

Known Issue: Trigger actions move min and move max do not fire if axis is already moving

The trigger actions move min and move max are ignored if axis is executing another motion.

Known Issue: Stationary axis switches to run current when issued a stop command

A stationary axis will momentarily switch to run current when given an ASCII stop or Binary Stop (Cmd 23) command.

Known Issue: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) configures driver and encoder direction to opposite of each other on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, LAR300APC-E01T3, and RSB120AU-E01T3 peripherals. Device behaves as if the axis were stalling whenever the axis is executing a movement.

Workaround: Configure peripheral using ASCII settings driver.dir and encoder.dir.

Known Issue: Default encoder filter is too restrictive on X-RST120AK-DE50 and RST120AK-DE50T3

When running the X-RST120AK-DE50 and RST120AK-DE50T3 stages, the default encoder.filter value of 64 is too restrictive and can result in incorrect positioning. This is most likely to occur at high speeds or after long moves.

Workaround: Set encoder.filter to 0.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.15

Released 18 February 2015

Change: WL not issued for limit sensors C and D

Limit sensors C and D no longer set warning flag WL when hit the second time. Limit sensors C and D do not affect the limits of device travel, so hitting them multiple times is normal.

Fixed: Homing doesn’t work if the device starts out inside the home sensor active area

The device can now home even if powered up in the limit sensor active area.

Fixed: Warning flag WL is not produced

The warning flag WL is now produced when the home or away sensor is hit a second time.

Fixed: Stop with zero deceleration does not decelerate

The stop command now treats a deceleration rate of zero as infinite.

Known issue: Slow streaming movements don’t set ND

Certain streamed motions taken at very slow speeds cause the ND warning flag, which should be set at the end of every streamed path, to not be set.

Known issue: Move min/max do nothing if already past limit

The move min and move max commands do nothing if the device is already outside the corresponding limit position.

Known issue: Trigger show command shows wrong trigger count for finite triggers

The trigger show command shows, for a finite trigger, the total number of trigger fires available from powerup, not the number of fires remaining.

Known issue: Spontaneous limit sensor hit may not home properly

When hitting a limit sensor whose Manuals/ASCII Protocol Manual#limit.n.action is nonzero during normal motion (i.e. not using the home, tools gotolimit, tools findrange, or lockstep home commands), in very specific circumstances, the device may not home properly and may report warning flag FE.

Known Issue: Stationary axis switches to run current when issued a stop command

A stationary axis will momentarily switch to run current when given an ASCII stop or Binary Stop (Cmd 23) command.

Known Issue: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) configures driver and encoder direction to opposite of each other on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, LAR300APC-E01T3, and RSB120AU-E01T3 peripherals. Device behaves as if the axis were stalling whenever the axis is executing a movement.

Workaround: Configure peripheral using ASCII settings driver.dir and encoder.dir.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.14

Released 17 December 2014

New Feature: Zaber ASCII Message IDs

The message ID feature was added for the ASCII command set .

Change: limit.approach.accel deleted

The limit.approach.accel setting no longer exists. Approaching a limit sensor now uses motion.accelonly as its acceleration limit.

Change: Manual move tracking

The manual move tracking mode now controls the generation of Manual Move messages generated by turning the knob in displacement mode, Stop messages generated by pressing the knob, Set Knob Movement Mode messages generated by pressing and holding the knob, and Home messages caused by driving the device into a limit sensor using the knob, in addition to Manual Move Tracking messages generated by turning the knob in velocity mode. Thus, this mode now controls all messages generated by the knob during normal operation.

Fixed: Incorrect message IDs in disable auto-reply mode

When operating on the binary protocol with auto-reply disabled and message IDs enabled, replies now use the correct message IDs.

Fixed: Binary set baud rate fails

When operating on the binary protocol, Set Baud Rate (command 122) now succeeds when passed a valid baud rate.

Known issue: Homing doesn’t work if the device starts out inside the home sensor active area

If the device is powered up, or displaced by hand, such that the home sensor is active, it cannot be moved under power. This will not happen if the device is used normally because the device stays outside the active area while driving. If you are unable to move the device away from the sensor by hand, please contact us for a workaround.

Known issue: Warning flag WL is not produced

The warning flag WL is not produced, even if the limit sensor is reached unexpectedly.

Known issue: Stop with zero deceleration does not decelerate

Issuing the stop command with deceleration rate set to zero does not stop the stage. Use the largest possible deceleration value, 32767, instead.

Known issue: Slow streaming movements don’t set ND

Certain streamed motions taken at very slow speeds cause the ND warning flag, which should be set at the end of every streamed path, to not be set.

Known issue: Move min/max do nothing if already past limit

The move min and move max commands do nothing if the device is already outside the corresponding limit position.

Known issue: Trigger show command shows wrong trigger count for finite triggers

The trigger show command shows, for a finite trigger, the total number of trigger fires available from powerup, not the number of fires remaining.

Known issue: Spontaneous limit sensor hit may not home properly

When hitting a limit sensor whose Manuals/ASCII Protocol Manual#limit.n.action is nonzero during normal motion (i.e. not using the home, tools gotolimit, tools findrange, or lockstep home commands), in very specific circumstances, the device may not home properly and may report warning flag FE.

Known Issue: Stationary axis switches to run current when issued a stop command

A stationary axis will momentarily switch to run current when given an ASCII stop or Binary Stop (Cmd 23) command.

Known Issue: Binary command Set Device Direction (Cmd 121) incorrect behaviour on certain encoder-embedded peripherals

Binary command Set Device Direction (Cmd 121) configures driver and encoder direction to opposite of each other on BAR200BPC-E01T3, BAR300BPC-E01T3, LAR200APC-E01T3, and LAR300APC-E01T3\ peripherals. Device behaves as if the axis were stalling whenever the axis is executing a movement.

Workaround: Configure peripheral using ASCII settings driver.dir and encoder.dir.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.13

Released 30 September 2014

Change: Disable auto-reply

The binary disable auto-reply mode now disables all messages except for:

• replies to any command whose name starts with “return”
• replies to the read register, echo, and renumber commands

Change: VSR home deceleration setting

Increased default home deceleration (limit.detect.decelonly) to avoid problems with homing.

Fixed: limit.min and limit.max cannot be set

The ASCII settings limit.min and limit.max can now be used.

Fixed: Interpolated motion

Many small bugs in interpolated motion are now fixed.

Known issue: Incorrect message IDs in disable auto-reply mode

When operating on the binary protocol with auto-reply disabled and message IDs enabled, some replies may be returned with incorrect message IDs.

Known issue: Binary set baud rate fails

When operating on the binary protocol, Set Baud Rate (command 122) always returns an error. Contact us for a workaround.

Known issue: Slow streaming movements don’t set ND

Certain streamed motions taken at very slow speeds cause the ND warning flag, which should be set at the end of every streamed path, to not be set.

Known issue: Trigger show command shows wrong trigger count for finite triggers

The trigger show command shows, for a finite trigger, the total number of trigger fires available from powerup, not the number of fires remaining.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.12

Released 07 July 2014

New Feature: Interpolated Motion

Interpolated motion has been implemented on the MCB2. See the ASCII stream command.

Fixed: ASCII Trigger Action "=" Incorrect Behaviour

In the ASCII trigger command, action "=" behaves as specified for both device-wide and axis-specific settings.

Known Issue: limit.min and limit.max cannot be set

In ASCII, /set limit.min and /set limit.max are rejected. For A-MCA, A-MCB2, and devices with an away sensor, use /set limit.home.pos and /set limit.away.pos instead. For other devices, contact us for a workaround.

Known issue: Slow streaming movements don’t set ND

Certain streamed motions taken at very slow speeds cause the ND warning flag, which should be set at the end of every streamed path, to not be set.

Known Issue: Stream may change speed abruptly at the end of a line segment

When executing a stream motion, the axes may change speed abruptly instead of accelerating/decelerating to their new speeds if, in the stream line command, the axis travelling the greatest distance is moving in the negative direction.

If the subsequent stream segment require the axes to maintain speed or slow down (a sharp bend, a lower maxspeed, a wait command etc.):

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.

If the subsequent stream segment allows a higher maxspeed, either one of the two scenarios may occur:

• At the end of the offending line segment, the axes may experience a sudden speed spike up to twice the current maxspeed.
  • After the spike, the axes immediately resume motion at the new maximum speed.
• At the end of the offending line segment, the axes may jump to an intermediate speed between the current and the new maximum speed.
  • After the jump, the axes continue to accelerate to the new maximum speed.

To prevent a sudden change in speed:

• At the end of the offending line segment, sending a stream wait 1 command to momentarily decelerate device to a halt before continuing motion.

Known Issue: Incorrect behaviour at end of stream lines

If the fastest-moving axis in a line segment was moving in the negative direction, incorrect behaviour could occur while transitioning from the line segment to the next segment in the path.

Known Issue: Streamed motion does not send completion alerts

When alerts are enabled and a streamed motion command completes (causing the axis to transition from BUSY to IDLE), no alert message is sent.

Version 6.11

Released 09 May 2014

Fixed: ASCII Trigger Condition "Not Equal To" Unusable

In ASCII trigger command, condition "not equal to" can now be selected by using "<>" instead.

Fixed: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D can now be set to type 2 (active high).

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for device settings

In the ASCII trigger command, action "=" behaves as if "+=" is used when referring to a device-wide (not axis-specific) setting. Please contact us for workaround.

Version 6.10

Released 17 March 2014

Fixed: ASCII Trigger Action "=" Incorrect Behaviour for axis settings

In ASCII trigger command, action "=" now behaves properly when referring to an axis-specific (not device-wide) setting. In previous versions, it behaves as if "+=" is specified.

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for device settings

In ASCII trigger command, action "=" behaves as if "+=" is used when referring to a device-wide (not axis-specific) setting. Please contact us for workaround.

Known Issue: ASCII Trigger Condition "Not Equal To" Unusable

In ASCII trigger command, condition "!=" (not equal to) cannot be selected. Please contact us for workaround.

Known Issue: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D cannot be set to type 2 (active high).

Version 6.09

Released 12 February 2014

New Feature: USB and RS485 support

A-MCB2 now supports USB and RS485 interfaces.

The following ASCII settings are added:

• comm.rs232.protocol, comm.rs485.protocol, comm.usb.protocol: protocol for provided interface
• comm.rs485.baud: RS485 baud rate setting
• comm.rs485.enable: Disables lower priority interfaces and enables RS485

The following commands and settings are modified or redefined:

• ASCII command /tools setcomm sets comm.usb.protocol in additional to comm.rs232.protocol and comm.rs232.baud
• ASCII setting comm.protocol sets the protocol of the current incoming interface (where user commands arrive). I.e. when used on a device of which current interface is USB, this sets comm.usb.protocol
  • Use /tools setcomm to set both comm.rs232.protocol and comm.usb.protocol at the same time
• ASCII command /renumber: Global renumber command (no device address given, or address is 0) is not available over an interface that does not support daisy chaining
• Daisy-chaining is enabled when the protocols of Prev and Next interfaces match

Change: ASCII Park Command Replies

Error message to parking related commands are changed from FAILED to:

• If a move command is attempted while the device is parked, the error message is PARKED
• If a park command is attempted while the device is moving, the error message is DEVICEMOVING

Change: ASCII Bad Command Checksum

Devices ignore ASCII commands with invalid checksum and no longer produce a BADCHECKSUM rejection reply.

The device will now flash the communication/busy (yellow) LED indicator at 2Hz until the next command is received.

Fixed: Move Vel (ASCII) and Move At Constant Speed (Binary Cmd 22)

Devices no longer flash error (red) LED indicator when executing the commands with invalid speed value.

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for axis settings

In ASCII trigger command, action "=" behaves as if "+=" is used when referring to an axis setting. Please contact us for workaround.

Known Issue: ASCII Trigger Condition "Not Equal To" Unusable

In ASCII trigger command, condition "!=" (not equal to) cannot be selected. Please contact us for workaround.

Known Issue: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D cannot be set to type 2 (active high).

Version 6.08

Released 05 November 2013

Fixed: ASCII Command Move Stored

Fixed device rejecting ASCII Command move stored incorrectly on some occasions.

Fixed: ASCII Command Tools Findrange changes device status too early

When executing ASCII command tools findrange on firmware prior to 6.08, device status becomes IDLE before operation completes.

Workaround: To receive correct device status information, use the equivalent command set home and then tools gotolimit away pos 1 1 sequentially.

Fixed: ASCII Command Tools Findrange sets NI flag incorrectly

Fixed ASCII command tools findrange setting the NI warning flag regardless of device state.

Known Issue: Move Vel (ASCII) and Move At Constant Speed (Binary Cmd 22)

The error (red) LED indicator may begin flashing when an ASCII command move vel or Binary command Move At Constant Speed (Cmd 22) is issued with an invalid speed.

There is no effect on the normal operation of a device. The flashing pattern persists until device is reset or power-cycled.

Known Issue: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D cannot be set to type 2 (active high).

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for axis settings

In ASCII trigger command, action "=" behaves as if "+=" is used when referring to an axis setting. Please contact us for workaround.

Version 6.07

Released 04 September 2013

Fixed: Return Setting (Cmd 53) Produces Extra Response

The device no longer replies twice to the Return Setting (Cmd 53) command requesting Device Direction (Data 121).

Known Issue: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D cannot be set to type 2 (active high).

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for axis settings

In ASCII trigger command, action "=" behaves as if "+=" is used when referring to an axis setting. Please contact us for workaround.

Known Issue: ASCII Command Tools Findrange changes device status too early

When executing ASCII command tools findrange, device status becomes IDLE before operation completes.

Workaround: To receive correct device status information, use the equivalent command set home and then tools gotolimit away pos 1 1 sequentially.

Known Issue: ASCII Command Tools Findrange sets NI flag incorrectly

ASCII command tools findrange sets the NI warning flag regardless of device state.

Version 6.06

Released 21 May 2013

New Feature: ASCII Protocol

ASCII protocol support and new features are added. See ASCII Protocol Manual for full description.

New Feature: New Communication Commands and Settings

Binary commands Set Baud Rate (Cmd 122), Set Protocol (Cmd 123) and Convert To Ascii (Cmd 124) are added to support new communication configurations.

The equivalent ASCII settings and commands are comm.rs232.baud, comm.protocol and tools setcomm.

Change: Device Number and Alias Number

Valid device number and alias number range is reverted to 1 through 254.

Change: Set Microstep Resolution (Cmd 37)

Home Status is cleared when setting microstep resolution.

Known Issue: Return Setting (Cmd 53) Produces Extra Response

When a Return Setting (Cmd 53) command requesting Device Direction (Data 121) is received, the device will erroneously reply twice.

The first reply is the expected response. The second reply is an Error response (Cmd 255, Data 53) and should be discarded.

Known Issue: Limit Sensor C/D Type 2 Unavailable

Limit sensors away, C, and D cannot be set to type 2 (active high).

Known Issue: ASCII Trigger Action "=" Incorrect Behaviour for axis settings

In ASCII trigger command, action "=" behaves as if "+=" is used when referring to an axis setting. Please contact us for workaround.

Known Issue: ASCII Command Tools Findrange changes device status too early

When executing ASCII command tools findrange, device status becomes IDLE before operation completes.

Workaround: To receive correct device status information, use the equivalent command set home and then tools gotolimit away pos 1 1 sequentially.

Known Issue: ASCII Command Tools Findrange sets NI flag incorrectly

ASCII command tools findrange sets the NI warning flag regardless of device state.

Version 6.05

Released 05 November 2012

Change: Device Number and Alias Number

Valid device number and alias number range is changed to 1 through 99. Setting device or alias number to 100 or above will result in an Error response.

Change: Home (Cmd 1) and Set Home Status (Cmd 103)

Device no longer clears Home Status when Home command is received. Home Status is only cleared via device reset or Set Home Status command.

Version 6.04

Released 04 September 2012

Change: LAC and LSA running current

Adjusted default running current setting of LAC and LSA series for optimized performance.

Version 6.03

Released 29 March 2012

Fixed: Temperature High Error while within operating temperature (Cmd 255, code 67)

Calibrates temperature threshold before the error message is sent. In version 6.02, device would produce an error message when it is still within operating temperature.

Version 6.02

Released 07 November 2011

Change: Return Status (Cmd 54)

Responds with status code 65 when device is Parked. In version 6.01, Return Status returns status code 0.

Fixed: Set Home Offset (Cmd 47)

Fixed unable to set Home Offset with some values when using non-default resolution.

Known Issue: Temperature High Error while within operating temperature (Cmd 255, code 67)

Device can produce an error message when it is still within operating temperature.

Version 6.01

Released 27 July 2011

Firmware 6 is released for A-Series devices.

For a comparison of Firmware 5 and 6, please see Manuals/Firmware_History_and_Migration#Firmware_Changes_from_5.xx_to_6.xx

Known Issue: Set Home Offset (Cmd 47)

Unable to set Home Offset with some values when using non-default resolution.

Known Issue: Temperature High Error while within operating temperature (Cmd 255, code 67)

Device can produce an error message when it is still within operating temperature.