PiCPro for Windows Version 14.1-SP1 Monitor Edition Readme

Added support for the new Block I/O Five-Axis Integrated Stepper Module (FAISM).
Fixed startup problems where PiCPro could unexpectedly exit after displaying splash screen.
Corrected problems with initializing an uninitialized MMC Smart Drive when the drive list contains drives specifying different firmware versions.
Corrected a problem in PiCPro that caused PiCPro to exit unexpectedly when downloading file data to an uninitialized MMC Smart Drive.
Corrected a problem in Project Manager that caused PiCPro to exit prematurely when a project's file did not exist in a directory, but was in the project without a directory path. The premature exit would occur during a compress operation.
Corrected an animation problem with reset coils. Under some conditions if a vertical line followed a reset coil, the vertical line and any contacts and coils attached to the vertical line would indicate power even though no power was going into the reset coil.
Corrected a problem where the user would not be prompted to save a custom motor file when the file was closed even though changes had been made.
Previously, STRTSERV would check that IDNs 47 and 51 were declared in cyclic data for a SERCOS servo axis and that IDN 53 was declared in cyclic data for a SERCOS digitizing axis. If these IDNs were not present in cyclic data, STRTSERV would return ERR=8 “Bad Cyclic Data”. These checks have been removed to allow the control to interface with velocity mode or torque mode drives that do not support these IDNs.
SCA_CLOS now checks if the position loop is already closed in the drive before proceeding. If SCA_CLOS is called and bits 15 and 14 of the status word are set (i.e. the position loop is closed), SCA_CLOS will simply exit with its DONE output set. This check was added to avoid a problem in which the ladder would call SCA_CLOS while the loop was already closed and the axis was moving. This could cause an interruption in the axis motion when the new actual position was written and could also introduce additional position error.
Added support for the DLS (Digital Line Shaft) module in conjunction with a DeviceNet module on the MMC for PC SERCOS.
Corrected a problem in the MMC Smart Drive firmware that could delay the opening of the bypass relay.
Corrected a problem in the MMC Smart Drive firmware that could erroneously report an error #43.
A new feature was added in the MMC Smart Drive that allows the logical AND of the Drive Ready and Bus Charged conditions to be assigned to an output.
Corrected a problem in the MMC Smart Drive firmware that could erroneously report overvoltage fault errors.
Corrected a problem in the MMC Smart Drive firmware that could erroneously cause a memory fault.

V14.1-SP1 Reasons To Update Your Firmware

MMC Smart Drive (DRB0203.HEX)

To correct a problem that could delay the opening of the bypass relay.
To correct the erroneous reporting of error #43, overvoltage fault error, or memory fault.
To use the new feature that allows Drive Ready and Bus Charged conditions to be assigned to an output.

MMC for PC SERCOS (MMCPCS11.HEX)

To allow the DLS (Digital Line Shaft) module to be used in conjunction with a DeviceNet module.

See PiCPro Software manual or On-line Help "Download a Hex File" to update the various firmware files.

V14.1-SP1 Updated Technical Manuals

The following Technical Manuals have been updated since PiCPro for Windows V14.1 was released. To obtain or download these Technical Manuals, please reference the G&L Motion Control, LLC website http://glcontrols.com/ie/technicalinformation/technical_info.asp.

Block I/O Module Manual, Electronic Part No. M.1302.7950, Version 3.1
MMC for PC Hardware Manual, Electronic Part No. M.1302.7951, Version 3.1
PiCPro Function/Function Block Reference Guide, Electronic Part No. M.1302.8029, Version 14.1.1

Note: At this time these Technical Manuals are only available in electronic form and are not presently available in hardcopy form.

V14.1 RELEASE NOTES

V14.1 New Features/Changes

PiCPro V14.1 contains the features and changes listed below.

Added MMC Smart Drive Firmware V2.02 to CD.
Added support for custom motor files. If you are using a non-standard motor, you can create your own custom motor files in PiCPro, or you can have G&L Motion Control engineers create a custom motor file for you. If you would like G&L Motion Control to create the custom motor file for you, you will have to send the motor in for testing. G&L Motion Control will generate the custom motor file and a speed torque curve for the motor. There is a charge for this service. Contact our sales department for details.
Added support for motor alignment.
Added the ability to upload all SERCOS drive information with a single command.
Added the ability to password protect LDO files. This capability will prevent users from modifying or opening LDO files without entering a correct password first.
Changes were made to enhance performance of the current loop, especially for high inductance motors.
Changes were made to enhance control of the velocity loop.
Changes were made to correct display problems for currents that exceed 128 amps.
Changes were made to extend the range of accel/decel limits.
Changes were made to provide smoother operation over the range of velocities.
Changes were made to accommodate drive hardware improvements.
Changes were made to correct a Stegmann encoder problem if Phase A and B offsets are significantly different.
Changes were made to correct a current loop problem if currents exceed the maximum.
Changes were made to correct a problem where PiCPro would exit abnormally when animating a ladder, whose window was maximized, and a Servo/SERCOS view list and then attempting to bring up Function Block help.
Changes were made to correct the problem of USB serial ports not working when downloading firmware.
Changes were made to correct a problem in which the P, I, and D gain values displayed in the Servo View List or returned from TUNEREAD did not reflect the values entered via Servo Setup, the Servo Force List, or TUNEWRIT.
Added the new Superimposed Move feature. This allows the ladder to have an additional move added on top of the current move of an axis. Writing a valid servo axis number to WRITE_SV Variable 66 turns on the Superimposed Move feature by assigning that axis (the Superimposed Move axis) to the axis specified at the AXIS input (the Receiving axis). After this variable is written, any move executed by the Superimposed Move axis will be added on top of the current move of the Receiving axis. Internally, this is performed by adding the iteration command of the Superimposed Move axis to the iteration command of the Receiving axis. The Receiving Axis will only accept the additional command while it is executing a RATIO_ move or a VEL_STRT move. A typical application will specify a virtual axis for WRITE_SV Variable 66. Writing a value of 0 cancels the Superimposed Move axis assignment. Both the Receiving axis and the Superimposed Move axis must have the same servo update rate. READ_SV Variable 66 will return the axis number of the Superimposed Move axis. A returned value of 0 indicates there is no Superimposed Move axis assigned. The valid range for Variable 66 is [0,16] and [101,116]. The default value is 0.
Note: If Variable 44 (User Iteration Command) is set to 1, Superimposed Moves will not be applied.

Note: Reading Variable 45 (Iteration Command) will not return the combined iteration command of the specified axis and the assigned Superimposed Move axis. It will return only the iteration command of the specified axis.
Changes were made to the motion library and to PiCPro to properly apply a P-gain value of zero entered via the Servo Force List. Previously, forcing a P-gain value of zero would result in applying the P-gain value that was entered in Servo Setup or the last P-gain value entered via TUNEWRIT.
Changes were made to correct a problem in which STRTSERV would return ERR=6 if the cpu was a MMC-for-PC SERCOS cpu and the first axis declared in Servo Setup was a virtual axis.
Changes were made to correct the following problem:

E-stop an S-curve axis in the middle of a DISTANCE move.
Reset the E-stop.
Command another DISTANCE move. The axis would travel the programmed distance plus the untraveled distance of the previous, E-stopped DISTANCE move.

Changes were made to correct a problem in which BTMPCHIT would return ERR=69 to report an invalid HNDL input. The correct error number is 13.
Changes were made to correct a problem in which the DELFIL and RENAME function blocks would return a DEVICE ERROR (ERR=9) when attempting to delete or rename a file on the PC.
Changes were made to the SERCOS firmware to correct a problem in which the function SCR_PHAS would return an incorrect value. The sequence of events to cause the problem was: initialize the SERCOS ring via SC_INIT to communicate at phase 2 or 4, stop the scan, then start the scan without reinitializing the SERCOS ring. The SERCOS ring would be at phase 0 but SCR_PHAS would return the phase it was at when the scan was stopped (2 or 4).
Changes were made to fix a problem with the standalone MMC processor when utilizing RS485 multidrop communications with the USER port.
Changes were made to correct a problem in which quick power cycles of the CSM, or a power reset command from PiCPro could cause the DIAG LED on the remote rack to turn on as the remote rack did not configure correctly. This only affected PiC900 systems with remote racks.

V14.1 Reasons To Update Your Firmware

MMC or MMC PLUS (MMC07.HEX)

To correct a problem with DELFIL and RENAME function blocks when attempting to delete or rename a file on the PC.
To correct a problem when utilizing RS485 multidrop communications with the USER port.

MMC Smart Drive (DRB0202.HEX )

To enhance performance of the current loop, especially for high inductance motors.
To enhance control of the velocity loop.
To correct display problems for currents that exceed 128 amps.
To extend the range of accel/decel limits.
To provide smoother operation over the range of velocities.
To accommodate drive hardware improvements.
To correct a Stegmann encoder problem if Phase A and B offsets are significantly different.
To correct a current loop problem if currents exceed the maximum.
To use the new alignment tool.

PiC900 (P94x14.HEX)

To correct a problem with DELFIL and RENAME function blocks when attempting to delete or rename a file on the PC.
To correct a problem in which quick power cycles of the CSM, or a power reset command from PiCPro could cause the DIAG LED on the remote rack to turn on as the remote rack did not configure correctly.

PiC90 (P904x11.HEX)

To correct a problem with DELFIL and RENAME function blocks when attempting to delete or rename a file on the PC.

MMC for PC ANALOG (MMCPCA08.HEX)

To correct a problem with DELFIL and RENAME function blocks when attempting to delete or rename a file on the PC.

MMC for PC SERCOS (MMCPCS10.HEX)

To correct a problem with DELFIL and RENAME function blocks when attempting to delete or rename a file on the PC.
To correct a problem in which the function SCR_PHAS would return an incorrect value.

SERCOS (SERCO07.HEX)

To correct a problem in which the function SCR_PHAS would return an incorrect value.

See PiCPro Software manual or On-line Help "Download a Hex File" to update the various firmware files.

V14.0-SP2 RELEASE NOTES

V14.0-SP2 New Features/Changes

PiCPro V14.0-SP2 contains the features and changes listed below.

Added support for the MMC-S8 Plus (8-axis) SERCOS (M.1302.7479).
Added motors LSM54-3-602, LSM63-12-602, LSM63-6-602, and LSM75-10-602 to MotorPersonality.csv file.
A change was made to correct a problem in Control Panel/Oscilloscope when doing a File | Restore Trace. Previously, if a saved trace was from a triggered trace, the restore would not return the data correctly and nothing was displayed. The data is now restored correctly and the restored trace displays the same as when you saved it.
Changes were made to the NEWRATIO function to allow calling the function at a high frequency (i.e. every ladder scan or in a servo or time task). Previously, calling NEWRATIO on a high frequency basis would sometimes result in an incorrect master/slave ratio being executed.
A change was made to correct a problem in which a slave axis would jump when a RATIOCAM, RATIONSLP, or RATIO_RL move was aborted and a new RATIOCAM, RATIOSLP, or RATIO_RL move would begin immediately using FAST_QUE.

V14.0-SP1 RELEASE NOTES

V14.0-SP1 New Features/Changes

PiCPro V14.0-SP1 contains the features and changes listed below.

Added support for MMC Smart Drive Firmware V2.0 to PiCPro for Windows.
The install of this Service Pack deletes MMC Smart Drive Beta Firmware (DRB0100B3.HEX). This Beta firmware has been obsoleted. If you need to reload the firmware of your MMC Smart Drive, please contact Technical Support.
A change was made to output an error message when attempting to write the dependency list to a directory specification rather than a filename specification.
Changed the Drive Data view to not display read-only rows while in Basic View when offline.
Any windows when created/opened, that may be placed completely off the screen, will be moved to appear on the screen. It was possible to open a window that was created off the screen - looking like the open failed. This can happen if the PiCPro window was once maximized (or large) and now it has been resized smaller.
Corrected a problem when editing a Drive Data field and the drive status changes causing the field to become read-only, the field will now revert back to its original value and the user will be notified.
Corrected a problem where the Brake Release Control Status light was not updated properly when assigning or unassigning "External Brake Release" to an input.
Corrected a problem where trying to print Drive Data did not work at all under Windows NT.
Removed from the product installation screens "All user install" when attempting to install any of the PiCPro Editions under Windows 98/ME. This feature does not apply to those operating systems.
Added necessary logic to insure that servo software waits for axis feedback data to be received from the ASIU. This eliminates the possibility of an invalid loss-of-feedback E-stop error. This change only affects MMC for PC Analog controls.
Corrected a problem in which the stack space for a ladder system task was not fully utilized.
Corrected a problem in which the second ring on a PiC900 2-ring SERCOS board would not reinitialize after a drive on that ring would cycle power or after the fiber optic ring was broken and then reconnected. Prior to this correction, the only way to reinitialize the SERCOS ring was to cycle power on the PiC900 control.
Made a change to prevent channel definition data from being printed on the wrong line during auto-tune mode.
Made a change to allow printing of the Information Window while working on drive information. Prior to this change, the Information Window could not be printed.
Corrected multiple problems with Download File Data in Analog Drive Setup.
Corrected a problem with printing a ladder with a large cross-reference table that caused an "Out of memory" error message to be displayed.

V14.0-SP1 Reasons To Update Your Firmware

SERCOS (SERCO06.HEX)

To correct a problem in which the second ring on a PiC900 2-ring SERCOS board would not reinitialize after a drive on that ring would cycle power or after the fiber optic ring was broken and then reconnected.

See PiCPro Software manual or On-line Help "Download a Hex File" to update the various firmware files.

V14.0-SP1 Updated Technical Manuals

The following Technical Manual has been updated since PiCPro for Windows V14.0 was released. To obtain or download this Technical Manual, please reference the G&L Motion Control, LLC website http://glcontrols.com/ie/technicalinformation/technical_info.asp.

MMC Smart Drive Hardware Manual V1.1

Note: At this time this Technical Manual is only available in electronic form and is not presently available in hardcopy form.

V14.0 RELEASE NOTES

V14.0 New Features/Changes

This release contains the features and changes listed below. Features are documented in the Version 14.0 manuals (.pdf files) found on your CD and/or in the on-line help found in PiCPro.

Supports MMC Smart Drive Setup.
Supports MMC PLUS CPU hardware.
Added support for Virtual Axis. This allows the user to declare a virtual axis that has no command output hardware or feedback hardware. A virtual axis can perform all the same functions as a normal servo axis: motion functions, master/slave functions, registration, reference, etc.
Added the function VFASTIN to emulate a fast input for a virtual axis.
PiCPro for Windows Monitor Edition is no longer supported under Windows 95.
Changed the SCA_ERST function block to correct a problem in which the FAIL output would not be set when the function block returned error 5 at the ERR output.
Changed the S-Curve code to correct a problem in which an S-Curve distance move following an aborted S-Curve distance move would travel the incorrect distance.
Corrected a problem in which an axis would occasionally fail to move when commanded with a ratio move. For this problem to occur, synchronized-slave-start had to be set for the axis and the ratio move had to immediately follow a previous ratio move with a different master.
Changed the ACC_JERK function code to correct a problem in which the internal calculations on the ACC and JERK input values could be performed incorrectly causing either failure of the OK output to energize or unexpected acceleration rates.
Added an abort bit to the OPTN input of the SCA_RFIT function block. This allows the ladder to abort a LAD_REF or FAST_REF with a SERCOS axis.
Changed STRTSERV to correct a problem in which ERR=1 was returned when the servo setup function contained time axis declarations, but no servo axis declarations.
A change was made to avoid loss-of-feedback errors occurring in MMC for PC - Analog systems with high axis counts in which the axes are declared with different update rates.
A change was made to the interpolation code to correct a problem in which an axis could move away from its programmed endpoint when commanded by a POSITION or DISTANCE function. This problem could occur only if the acceleration rate is ten times greater than the deceleration rate and the distance of the move is very short.
Corrected a problem in the PID2 function block. The PID2 function block could have affected the operation of other functions if manual mode was invoked in the PID2 function block.
A change was made to the time axis S-Curve code to correct a problem in which a time axis would occasionally take on an invalid velocity and its current position would oscillate between zero and an invalid value. This problem would typically occur if multiple time axes were simultaneously commanded with S-Curve distance or position moves. This is the case when multiple M_SCRVLC function blocks, each with a different path, are started simultaneously.
Corrected a problem in which TCP/IP communications could lock up while downloading ladders.
Corrected a problem where bytes 38050 and 38051 of the Software Declarations table (control data memory) would be written into by the operating system for the MMC-A2 and MMC-A4.
Corrected a problem where byte 35404 of the Software Declarations table (control data memory) would be written into by the operating system when a TTL module was specified in Hardware Declarations for the PiC90 and PiC900 control.
Corrected a problem where PiCPro for Windows would crash when opening an LDO that was created prior to PiCPro for Windows V13.0 in PiCPro for Windows V13.0 or later.
Corrected a problem where selecting Update Project Tree in Project Manager would not always generate the complete list of UDFB dependencies but rather would only generate a subset of the complete list of dependencies. For this problem to occur "Include only sources for functions used." had to be set in Project Manager Properties.

V14.0 Reasons To Update Your Firmware

MMC or MMC PLUS (MMC06.HEX)

To add support for MMC PLUS CPU.
To correct TCP/IP lock up problems during ladder download.
To correct the inadvertent writing of bytes 38050 and 38051 of the Software Declarations table (control data memory) by the operating system.

MMC Smart Drive (DRB0100B3.HEX )

Beta firmware release for MMC Smart Drive Interface.

Note: This firmware is deleted by installing SP1. If you need to reload the firmware of your MMC Smart Drive, please contact Technical Support.

PiC900 (P94x13.HEX)

To correct TCP/IP lock up problems during ladder download.
To correct the inadvertent writing of byte 35404 of the Software Declarations table (control data memory) by the operating system when a TTL module was specified in Hardware Declarations.

PiC90 (P904x10.HEX)

To correct TCP/IP lock up problems during ladder download.
To correct the inadvertent writing of byte 35404 of the Software Declarations table (control data memory) by the operating system when a TTL module was specified in Hardware Declarations.

MMC for PC ANALOG (MMCPCA07.HEX)

To correct TCP/IP lock up problems during ladder download.

MMC for PC SERCOS (MMCPCS09.HEX)

To correct TCP/IP lock up problems during ladder download.

See PiCPro Software manual or On-line Help "Download a Hex File" to update the various firmware files.

KNOWN PROBLEMS AND WORK-AROUNDS

MMC Smart Drive - Autotune Feature

Autotune for the MMC Smart Drive is not currently operational.

Saving .G&L Files From E-mail

Please be aware that if you attempt to save a compressed project file (.G&L) from within an e-mail by right-clicking and then selecting "Save As" from the popup menu, the "&" is removed from the filename extension in the Save Attachment dialog. To fix the problem, you must manually add this "&" back in. This problem has been diagnosed in Microsoft E-mail and has not been observed in other e-mail packages. To avoid this problem, save a .G&L file attachment by double-clicking on it and selecting "Save it to disk" on the Opening Mail Attachment dialog.

Serial or Ethernet Connection Icons May Disappear

If your connection icon or IP address does not appear on the status bar, you need to display the Communication Settings dialog (Online | Comm Settings) and select OK.

Dependencies in a Compressed Project File

To make sure that all of your project files are actually included in the compressed file,

Perform an Update Project tree (select this from the File menu) to list all missing source files (.LDO, .SRV, .SRC, .PRO) to the Information Window. If you were to compress your project without these files, you won't be able to build the associated function/function blocks. Make sure that if you really need these files, they are in the locations specified in the project library paths.
To ensure that all required functions are found, do a rebuild all (Compile | All UDFBs found) and also compile your main .LDO. If any errors are found, correct and compile again. When all errors are resolved, now you can compress your project.

Note: Step (2) can only be done if the version of PiCPro you are running matches the version of PiCPro in the project.

Printing Help Windows

Printing help windows that contain graphics using Windows 98 may produce unexpected results. The problem does not occur when using Windows NT 4, Windows 2000 or Windows XP.

Power Save Option:

The Power save option in BIOS should not be set when using an MMC for PC as it will cause a communications error when it shuts the computer down.

SOFTWARE NOTES

It is highly recommended that you Rebuild all UDFBs and servo setup files in your system before using version 14.1. If they aren't recompiled, there could be problems with operation. If the source files aren't available, get the source files or a new compiled library from whoever wrote the program.
PiCPro defaults to serial communications on restarting unless you were connected to a local MMC for PC.
Use the DOS 8.3 format naming convention for Project compressed files if you will be saving those on FMSDISK.
Do NOT move, rename, replace, or delete PiCPro Library files (.LIB) from outside of PiCPro while PiCPro is running. If you do this, you MUST open the Libraries dialog (File | PiCPro Libraries) and click on the OK button to rescan the Library files; otherwise unpredictable results may occur. After rescanning, close and reopen all open files.

BEFORE RUNNING PiCPro for Windows V14.1

It is helpful to have your extensions appear on your files. Ensure that Windows Explorer is setup to display three-letter extensions on all filenames. Follow these steps to do this:

In Windows 98/NT:

Right click My Computer.
Choose either Open or Explore.
Click View | Folder Options in the window's menu bar. The Options box appears. Click on the View tab and choose "Show all files" and uncheck "Hide file extensions for known file types.".
Click OK. Your extensions will now appear on your files.

In Windows 2000/ME/XP:

Right click My Computer.
Choose either Open or Explore.
Click Tools | Folder Options in the window's menu bar. The Options box appears. Click on the View tab and uncheck "Hide file extensions for known file types". (In Windows XP uncheck "Hide extensions for known file types".)
Click OK. Your extensions will now appear on your files.

After installation is completed, but before you run PiCPro, modify the properties of your virus scanning program and exclude any *.tmp files in your Windows temporary directory. For example, temporary files are usually found in \WINDOWS\TEMP or \WINNT\TEMP directory. You would add this directory to the exclude list in your virus scanning program's properties. (This prevents any confusion for the scanning program when you compile a binary file in PiCPro that might resemble virus binary sequences.)