-- version 9.03---------------------------------------------- - When main power returns after Undervoltage, the motor will now stay in Passive mode if selected as Undervoltage handling. -- version 9.02---------------------------------------------- - Bit for Homing Done (at least once after reset) is now cleared at early startup. -- version 9.01---------------------------------------------- - Expanded Modbus addressing to support reading scope data over Ethernet. - Allowed one RS422 communications signal, B+, to be used also as a digital input for HWI functions. -- version 9.00---------------------------------------------- - Removed the FastMac protocol. Will now always use 1 megabit/s modbus between motor and MAC00-xx modules. This requires firmware version 3.0 or later in the intelligent modules. The exception is the MAC00-FSx module, where any firmware version can be used. -- version 8.06---------------------------------------------- - Fixed a startup communications problem. - Fixed scope functionality. -- version 8.05---------------------------------------------- - Fixed communications isssues to support all MAC00-xx modules. - Fixed firmware default values for registers 181-213. - Protocol type can now also be selected manually to either 19200 FastMac, 1 Megabit Modbus or autodetect using Reg182. - Registers 212 and 213 added to override DIP switch settings for MAC00-xx modules with supporting firmwares. -- version 8.04---------------------------------------------- - Autodetect of 1 Mb Modbus, fixed modbus error when writing to some registers. - Added a HWI (HardWare Input) system to allow digital inputs on the MAC00-FSx module to execute one or more register operations, like Jog, feedhold etc. Added four general-purpose Mode0..MODE3 registers to support the HWI system very similar to that in MAC400/800. Registers 188, 190, ...202 are now 32-bit HWI0, HWI1,...HWI7. Register 167, HW_PLIM, now receives the digital inputs from MAC00-FSx and other modules that support hardware endlimits and digital inputs (not yet implemented in all module firmwares) - New register 183, STATUS_BITS, that holds 1Mb detection status in bit-0 -- version 8.03---------------------------------------------- - Added 1 Megabit/sec Modbus for use with the MAC00-Fcx and MAC00-FPx modules. Modbus requires manual configuration of Reg182, UART1_SETUP. -- version 8.02---------------------------------------------- - An encoder check function has been added to detect missing pulses and other malfunctions. Bit 11 in Reg35, ERR_STAT, is set when this error is detected and the motor is set passive immediately. MacTalk will show the error as Phase Error. - A general-purpose Loss-of-control Monitor has been added to catch situations where the velocity of the motor exceeds the value in the new register 181 V_IST_MAX by more than 25%. The check function is disabled if Reg181 = 0. This function is useful if the inertia of the motor load changes so much that the filter becomes unstable. -- version 8.01---------------------------------------------- - Control of SSI readings can now be disabled, and done externally. - Position profile (an 887-point CAM table) supported. - Powersave functionality supported in Analog Velocity with Deadband mode. -- version 7.15 --------------------------------------------- - SSI Encoder support (LIKA) reads encoder position when motor is powered up. The encoder value is scaled to suit the motor resolution (1 enc. rev = 1 motor rev.) P_IST and P_SOLL can be synchronized to the scaled encoder position to provide absolute position support. - IO1 and IO2 are now optionally user defined and can be used to power an external encoder such as the absolute encoder available using SSI. - A Power Save feature has been introduced in analog bi-position mode to save operating power by automatically setting the motor into Passive mode during pauses and restoring the original mode when movement or torque is again required. -- version 7.14 --------------------------------------------- - Preliminary release supporting SSI. -- version 7.13 --------------------------------------------- - Changed the number of the Command register from 171 to 211 to use the same number as with MAC400 and MAC800. This was done to allow groupwrites with FastMac commands on multidrop lines with mixed motors connected. - Support for the new Register Value Monitoring function, that uses registers 171 to 177 to supervise the value in a single register, and can execute a set of actions when a flexible comparison expression is met. This can be helpful to identify communication errors and other situations when a register suddenly receives an unexpected value. -- version 7.12 --------------------------------------------- - Support for execution of FastMac commands over the MacTalk protocol by writing to the new Command register 171. - Support for GroupWrite over the MacTalk protocol to allow simultaneous writes to all or groups of motors, often used in combination with FastMac commands to start several movements simultaneously. -- version 7.11 --------------------------------------------- - Never released. -- version 7.10 --------------------------------------------- - Fixed bug with mechanical blocking during homing operations. - Homing Done bit 0 avaliable in the new register 168. - Expanded functionality in in Coil mode operation. - Minor improvements in initial current measurements and startup mode handling. -- version 7.09 --------------------------------------------- Improvements: - More flexible coil_mode. -- version 7.08 --------------------------------------------- New feature: - Range of analog position expanded to +/- 125E6 -- version 7.07 --------------------------------------------- Bug fixed: - Keep track of position when function- or followerror occurs. -- version 7.06 --------------------------------------------- Bug fixed: - Some setups overwritten when resetting error. -- version 7.05 --------------------------------------------- New feature: - Hardware EOT possible with FSX-module. Bug fixed: - Handling some filter-settings. -- version 7.04 --------------------------------------------- New feature: - Positive motordirection defined by user. Bug fixed: - Setting encoder gear <> 1 -- version 7.03 --------------------------------------------- Improvements: - New syncronize position commands. -- version 7.02 --------------------------------------------- Improvements: - New command: relative move from current position. - Previous gearmode splitted into two special gearmodes. - New control configuration preventing roundoff error by positioning. -- version 7.01 --------------------------------------------- Never released -- version 6.07 --------------------------------------------- Bug fixed: - P_SOLL = 0 after homing. -- version 6.06 --------------------------------------------- Bugs fixed: - Addressing of expansion modules. - Other minor bugs. -- version 6.05 --------------------------------------------- Bug fixed: - In_position flag in analogue two position mode. -- version 6.04 --------------------------------------------- Improvements: - Hall signals can be used to improve repeatability by homing. -- version 6.03 --------------------------------------------- Improvements: - Functionality of software position limits by homing changed. -- version 6.02 --------------------------------------------- Bug fixed: - Logical error signal now working. -- version 6.01 --------------------------------------------- Improvements: - Inversion of IN_POSITION and ERROR signals possible. -- version 6.00 --------------------------------------------- Improvements: - Improved stability at some filter settings New features: - Relative positioning possible in Analogue_2_Position mode. -- version 5.15 --------------------------------------------- New features: - Auto/manual Resyncronization with P_IST after passive mode. <*** Contact JVL for earlier revision history if needed ***>