Galil Motion Control DMC-1000 User Manual page 4

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