Manual

Appendix I 19-3
3.1 12/3/89 Add bit 10 of personality parameter 37. Eliminate the interdependence
between the Digital Inputs and the Program Select thumbwheel and GO
button.
3.2 7/11/90 Add ACL variables with the following ACL commands: SC, OV, VA, VC, VL,
VR, VS, VT, V<, V=, V>, V+, V-, V*, V/, V&, V|, V!. Add Chapter 10. Add the
<angle> parameter to the BP command, along with the OG command. Add
the ES and OU commands. Increase the non-volatile memory from 8K to
16K and change from EE-PROM to battery-backed RAM; this speeds up
downloading and eliminates the 10000-write limitation. Eliminate the 31-byte
quantization (i.e. "chunks") of download memory. Increase the Linearity
Correction table from 8 x 8 to 20 x 20. Add bit 3 ("No MN") to the VM
command.
3.3 3/11/91 Internal changes. Speed up BP rotation.
3.4 4/22/91 Increase the maximum number of BC...EC physical action commands from
80 to 200. Add the <re-use> parameter to the BC command. Allow blanks
between the ES or OU mnemonic and the first <quotechar> parameter. Add
the "
ESC.S7:" escape sequence in Chapter 6.
3.41 3/17/92 Add CK_XTAL subroutine to determine if PCB is new 4.9152 MHZ version
and adjust time base for WAIT1MSEC subroutine.
3.42 7/27/92 Add AP command for two Aux I/O bits.
3.43 9/29/92 Fix CP bug that AP caused.
3.44 10/7/92 Add OB and OQ commands. Add AP0 to Esc .!5:. Fix front panel home
problem with travel limits.
3.46 02/21/94 For REV 18 PCBs. Increase correction map to 50 x 50 for hubble.
3.47 03/29/94 For REV 18 PCBs. Add GU and GD commands. Add PE57. Remove 50 x 50
correction maps. Return to 20 x 20.
3.48 06/22/94 For REV 18 PCBs. Increase variables to 384 by decreasing available
download memory.
3.5 10/7/92 Initial code updates for REV 19 PCBs. Implement paging scheme for
download memory and increase download memory size. Add MC and MS
ACL commands. Increase number of variables to 512. Increase calibration
map maximum to 48 x 48.
3.51 10/5/93 Increase cal map to 50 x 50. Increase MM from 32 to 96. Add DJ command
for fast MM. Add AF acceleration filter command.
3.52 12/23/93 Fix CP mnemonic table in JPARSER so that CP downloads work.
3.53 04/22/94 Fix Head and Tail Pointers by reducing variables to 384.
3.58 05/06/94 Make version number match JVGP. Add jerk control with JC command and
circular buffer FIR. Allow both VG_FREQ for standard motion control or
JC_FREQ for jerk control. Add retractable height sensor code from REV 18
PCBs 3.47 code. (Adds GU and GD commands. Adds PE57). Add JMP
COMPUTE_KSLEW to CMD_JC to insure profile records are always correct.
Add RCORT (PE58) to allow rectangular correction table.