Manual

19-2 Appendix I
2.0 11/10/85 First shipped with 2.0/2.0 ROMs. Add the AM, AZ, and PD commands. Add
bit 10 of the FP command. Add personality parameters 40 through 47.
Decrease Z axis travel from 65535 to 32767 steps. Add Z axis Arrows. Add
bit 7 of OS. Personality parameters are always "permanent". Decrease input
buffer from 512 to 256 characters.
2.1 4/22/86 First shipped with 2.1/2.1 ROMs. Add the SZ, XU, and XW commands. Add
the <only if needed> and <z first> parameters to FH and FZ. Add
"
ESC.S5;N:". Add personality parameter 48. Add front-panel Suppress
Autostart and Z Arrow mode selection with Z Find Home and Z GO TO
ORIGIN. Add non-volatile memory consistency check and bit 7 of
ESC.O.
Add bit 8 of OS. Change bit 10 of FP from EXTERNAL MOTORS to
Interrupts. STOP and PAUSE are remembered if they occur while locked out
via FP. Downloading and PE give an error if non-volatile memory is
write-protected. OP sends 0 if <selector> is out of range. Exceeding
maximum XD nesting depth halts Download execution. Change Z axis default
to Half Step (PE 46 and CZ). "
ESC.!6:" and "ESC.!7:" no longer go to
power-up state. If personality parameter 14, 15, or 16 is zero the motor may
travel forever. Delete the MS command.
2.2 5/23/86 First shipped with 2.2/2.2 ROMS. Add the Step Verify option: personality
parameters 49, 50, and 51. Modify CS, FP, OS, PM, "ESC.!2:", and ESC.O.
2.3 7/2/86 First shipped with 2.3/2.3 ROMS. Add the MN and MT commands. IN sets
Taught Point to 0,0. Maximum vector speed decreased from 10000 to 8000
full steps/sec. WA and WN are aborted by
ESC.K.
2.4 10/29/86 First shipped with 2.4/2.4 ROMs. CS and "ESC.!2:" don't work while STOP
switch is still actuated. Add bit 2 of 4.O. Add bits 8 and 9 of personality
parameter 37 (binary-encoded and BCD-encoded Download invoke).
2.5 2/20/87 First shipped with 2.5/2.5 ROMs. Add the High- Resolution Z Axis option.
RE does not set the No Reference status bit unless the resolution actually
changes. Increase max Download Sequence <id> from 63 to 255. Decrease
download chunk size from 63 bytes to 31 bytes, with consequent changes in
ESC.S results. The manual Z Find Home sets the Position Change status bit.
2.6 8/10/87 Add the Z AXIS button and personality parameters 52 through 56 (FZ
parameters). FZ is performed twice, with back-off and acceleration.
2.7 10/21/87 Add the CR, OR, and "ESC.!8:" commands (linearity correction). Change the
factory default values for personality parameters 40, 41, and 54. Add Chap-
ter 9.
2.8 5/9/88 Add the MM command.
2.9 6/28/88 Fix bug in MD/MM -- previous Digital Outputs not incorporated into MD/MM.
3.0 1/27/89 Add the BC, EC and "ESC.S6:" commands and ACL errors 9 and 10
(Continuous Path). Eliminate certain restrictions on arc speed and radius.
Add a summary of the personality parameters as Appendix D, and rename
the subsequent appendices. Change the factory default values of personality
parameters 41, 53, 54, and 55. Decrease the minimum achievable Z axis
acceleration (CZ command). The GO TO ORIGIN button sometimes
performs a Find Z Home.