## PiCPro Version 18.0-SP4
Professional Edition & MMC-Limited Edition
Service Pack 4 Readme

### TABLE OF CONTENTS

- TECHNICAL SUPPORT
- V18.0-SP4 RELEASE NOTES
  - V18.0 SP4 New Features/Changes
  - V18.0 SP4 Reasons To Update Your Firmware
- V18.0-SP3 RELEASE NOTES
  - V18.0 SP3 New Features/Changes
  - V18.0 SP3 Reasons To Update Your Firmware
- V18.0-SP2 RELEASE NOTES
  - V18.0 SP2 New Features/Changes
  - V18.0 SP2 Reasons To Update Your Firmware
- V18.0-SP1 RELEASE NOTES
  - V18.0 SP1 New Features/Changes
  - V18.0 SP1 Reasons To Update Your Firmware
- V18.0 RELEASE NOTES
  - V18.0 New Features/Changes
  - V18.0 Reasons To Update Your Firmware
- Compatibility note: MMC for PC hardware and Windows Vista/7 64 bit versions
- SOFTWARE NOTES

### TECHNICAL SUPPORT

For technical support call G&L Motion Control at 1 800 558 4808, 1 920 921 7100, or send an e-mail to glmotion.support@kollmorgen.com.

### V18.0-SP4 RELEASE NOTES

### V18.0 SP4, New Features/Changes

- Added support for the next generation 230 VAC MMC Smart Drive, also referred to as MMC-SDN. Now both 230 VAC and 460 VAC MMC-SDN versions are available.
- Added support for brush motors on MMC-SDN Smart Drives.
- Added support for Stepper mode step and direction in the DL-DIU.
- A new function FASTMEAS was added to provide a fast counter feature on digital MMC Smart Drives and the Digital Link Drive Interface Unit (DL-DIU).
- Code was added to correct a problem of feedback error faults at initial power on time with Stegmann or SFD feedback types.
- Code was added to correct a problem of erroneous incoming AC power under voltage faults.
- Code was added to correct a problem of a single phase warning fault when single phase incoming AC power is selected.
- Added support for ST-3808, 8 channel thermocouple.

### Note:

- An application is limited to only 1 I/O task. If more than 1 I/O task is created in an application, unpredictable results will occur. This change did not make it into the documentation prior to shipping PiCPro V18.0-SP4.

### V18.0 SP4, Reasons To Update Your Firmware

SDN Drive (MMC-SDN-xxx-D Digital MMC SDN R0102.hex)

- Initial release of 230 VAC MMC-SDN Drives
- A new function FASTMEAS was added to provide a fast counter feature on digital MMC Smart Drives and the DL-DIU.
- Added support for brush motors on MMC-SDN Smart Drives.
- Code was added to correct a problem of feedback error faults at initial power on time with Stegmann or SFD feedback types.
- Code was added to correct a problem of erroneous incoming AC power under voltage faults.

Digital MMC Smart Drive (MMC-SD-xxx-D Digital MMC Smart Drive R0904.hex)

- A new function FASTMEAS was added to provide a fast counter feature on digital MMC Smart Drives and the DL-DIU.
- Added support for Stepper mode step and direction in the DL-DIU.
- Code was added to correct a problem of a single phase warning fault when single phase incoming AC power is selected.
- Code was added to correct a problem of erroneous incoming AC power under voltage faults.

S200 Drive (S200-DLS Drive R0204.hex)

- A new function FASTMEAS was added to provide a fast counter feature on digital MMC Smart Drives and the DL-DIU.

DLDIU Drive (DIU R0104.hex)

- A new function FASTMEAS was added to provide a fast counter feature on digital MMC Smart Drives and the DL-DIU.
- A new stepper control feature was added to provide a stepper control for A quad B, step in direction, and stepper up/down.

Slice I/O (MMC Slice IO Coupler R0202.hex)

- Added support for ST-3808, 8 channel thermocouple.

See PiCPro Online Help "Download a Hex File" to update the various firmware files.

### V18.0-SP3 RELEASE NOTES

### V18.0 SP3, New Features/Changes

- Code was added to correct a problem where the ladder would not scan and a blink code was generated when an application hex file was downloaded to a MMC Digital Standalone or Drive Resident control using extended data memory.
- Added the position command delta to the oscilloscope channel variable select menu.
- Code was added to correct a problem where the incoming AC single/three phase mode of operation was not displayed properly.
- Added support for SFD motor feedback.
- Added support for an emulated encoder output signal.
- Updated the oscilloscope to provide an improved velocity scope trace.
- Added the new READ_SV/WRITE_SV Variable 102 PLS Offset. This variable allows the application program to offset the axis position used for PLS.
- Added Slice I/O Parameter Read/Write FB’s SLIORPAR & SLIOWPAR required for Thermocouple, RTD, PWM, Pulse, and High Speed Counter modules.

### V18.0 SP3, Reasons To Update Your Firmware

SDN Drive (MMC-SDN-xxx-D Digital MMC SDN R0101.hex)

- Added support for SFD motor feedback.
- Code was added to correct a problem where the position feedback F1 counter with Sine/Cos feedback could have a 4 count display value difference after a power cycle or cold restart.
- Code was added to extend the motor encoder hall state validation for improved motor commutation.
- Added a first order filter to improve the velocity scope trace.
- Code was added to correct a problem initializing the brake release output
- Added the position command delta to the oscilloscope channel variable select menu.

Digital MMC Smart Drive (MMC-SD-xxx-D Digital MMC Smart Drive R0903.hex)

- Added a first order filter to improve the velocity scope trace.
- Added support for the position command delta to the oscilloscope channel variable.
- Code was added to correct a problem where the position feedback F1 counter with Sine/Cos feedback could have a 4 count display value difference after a power cycle or cold restart.
- Code was added to correct a problem that generated a current loop configuration error message for certain motor winding resistance and inductance values.
- Code was added to correct a problem where the incoming AC single/three phase mode of operation was not displayed properly.
- Code was added to extend the motor encoder hall state validation for improved motor commutation.
- Code was added to correct a problem with the index signal of the encoder emulation output.

S200 Drive (S200-DLS Drive R0203.hex)

- Code was added to correct a problem that generated a current loop configuration error message for certain motor winding resistance and inductance values.
- Added a first order filter to improve the velocity scope trace.
- Code was added to extend the motor encoder hall state validation for improved motor commutation.

DLDIU Drive (DIU R0103.hex)

- Added a first order filter to improve the velocity scope trace.

Slice I/O (MMC Slice IO Coupler R0201.hex)

- Added Service Channel Support in MDT and DMT for sending messages between Library code and Slice I/O coupler firmware.

See PiCPro Online Help "Download a Hex File" to update the various firmware files.

### V18.0-SP2 RELEASE NOTES

### V18.0 SP2, New Features/Changes

- Added support for next generation MMC-Smart Drive, also referred to as MMC-SDN. This includes PiCPro, control firmware and drive firmware.
- The following library functions have been updated to support MMC-SDN: PLS, CAM_OUT, READ_SV, WRITE_SV, ANLG_OUT.
- PiCPro Professional, MMC Limited, and Monitor Editions are all Window 7 Compliant.
- A new feature was added to RATIOCAM and RATIOSLP that allows the use of DINT master/slave values. This feature is activated by a new option bit for the OPTN input.
- Code was added to correct a problem in which an S-curve move could cause that axis to travel the wrong distance. If an S-curve move was aborted to 1.) a slave move, 2.) a non-S-curve move, or 3.) nothing with S-curve disabled, the next S-curve move could travel its programmed distance plus the remaining distance of the aborted S-curve move.
- Code was added to correct a problem in which the digital control (MMC-DSA32-64 Standalone, MMC-DSA2-16 Standalone, and MMC-D1-16 Resident Digital Controls) could stop executing or function incorrectly if a dynamic memory function (DMEM…) is called from a UDFB.
- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0 and is limited to PiC 90/900, Standalone MMC, and MMC for PC controls with either Analog or SERCOS interfaces.
- Code was added to correct an offset that can develop between command and actual positions when doing numerous fast references on a digitizing axes on a digital MMC Smart Drive.
- Standard motor selection updated to include new AKM motors including AKM8.
- Code was added to RATIOCAM to correct a problem in which the Slave Start position could be calculated incorrectly. The problem would only occur if a RATIOCAM function happens to be called immediately after a servo interrupt that calculated the last command delta for the previous move.
- Code was added to correct a problem that generated a 'Fatal Error' message in PiCPro when trying to open a DL-DIU based .DDV drive file.

### V18.0 SP2, Reasons To Update Your Firmware

SDN Drive (MMC-SDN-xxx-D Digital MMC SDN R0100.hex)

- Initial release of SDN firmware.

Digital MMC Smart Drive (MMC-SD-xxx-D Digital MMC Smart Drive R0902.hex)

- Code was added to correct an offset that can develop between command and actual positions when doing numerous fast references on a digitizing axes.

S200 Drive (S200-DLS Drive R0202.hex)

- Code was added to correct an offset that can develop between command and actual positions when doing numerous fast references on a digitizing axes.

DLDIU Drive (DIU R0102.hex)

- Code was added to correct an offset that can develop between command and actual positions when doing numerous fast references on a digitizing axes.

MMC Digital Stand Alone 32-64 (MMC-DSA32-64 Standalone Control R0702.hex)

- Support was added for SDN drives

MMC Digital Stand Alone 2-16 (MMC-DSA2-16 Standalone Control R0702.hex)

- Support was added for SDN drives

MMC Digital Resident Control (MMC-Dx Resident Control R0702.hex)

- Support was added for SDN drives

PiC900 (PiC900 94X CPU R0521.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

PiC90 (PiC90 904X CPU R0518.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

MMC Analog (MMC-Ax Analog MMC R0514.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

MMC SERCOS (MMC-Sx SERCOS MMC R0514.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

MMC-for-PC Analog (MMC for PC Analog R0516.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

MMC-for-PC SERCOS (MMC for PC-Sx SERCOS R0520.hex)

- Code was added to correct a problem in which the control may stop executing when a servo task is invoked. This problem originated with PiCPro version 18.0.

See PiCPro Online Help "Download a Hex File" to update the various firmware files.

### V18.0-SP1 RELEASE NOTES

### V18.0 SP1, New Features/Changes

- Added support for DL-DIU (Digial Link Drive Interface Unit).
- Added the ability for the customer to decide through PiCPro whether incoming power will be 1 phase or 3 phase for 230VAC drives.
- Added support for dynamic memory allocation for MMC D32/D64 with eight new functions. The functions are: DMEMALOC, DMEMAVAL, DMEMFREE, DMEMINIT, DMEMPTR, DMEMREAD, DMEMSTR, and DMEMWRIT. This feature allows allocation of up to 127 segments of data at runtime where each segment can be up to 64k bytes. This data area can be used to store and retrieve recipes, ratio move profiles or any other large amounts of data.
- MMC Limited Edition Only: If you have a MMC or MMC Plus control and are using the MMC Limited Edition, virtual axes no longer count against the number of servo axes that you can have. Historically, virtual axes were counted against the number of servo axes that you could have in these controls. If you have a SERCOS version of these controls you are limited to 8 SERCOS axes and 8 digitizing axes and if you have an analog version of these controls you are limited to 4 servo axes and 1 digitizing axes regardless of the number of virtual axes you have defined. Other restrictions may apply. PiCPro Professional Edition already supports this feature.
- Added support for BiSS with encoder channel on S200-DLS Drive.
- Added the new function DIU_INIT which allow the application program to initialize a DL-DIU that is not declared as an axis. This function starts the transfer of MDT/DMT cyclic data for the DL-DIU so the application program can write the analog output, read the analog input, read and write the digital I/O, read the feedback, and read the fast input state.
- Corrected a problem in which a random number would be returned at the QUE output of LAD_REF or FAST_REF when called with a digitizing axis. The QUE output will now always return 0 when the axis is a digitizing axis.
- Corrected a problem in Q_NUMBER in which the function would occasionally return zero while a move was active.
- Added code to READ_SV. READ_SV variable 71 now supports the DIU’s two inputs. READ_SV variable 72 now supports the DIU’s two outputs. READ_SV variables 73, 74, 75, 76, and 77 are not supported for a DL-DIU.
- Added code to STATUSSV to support the DL-DIU.
- Corrected a problem in which a LAD_REF move may not terminate when REF_END is called. This problem would only occur when REF_END is called immediately after or very shortly after LAD_REF is called. This problem was seen when executing the M_CHOME ASFB which uses LAD_REF to reference on the first index from the hard stop.
- Added code to ANLG_OUT to allow the application program to write to the analog output of a DL-DIU operating in non-axis mode.
- Added code to A_INCHRD to allow the application program to read the analog input of a DL-DIU operating in non-axis mode.
- Added three new functions to access I/O on a DL-DIU operating in non-axis mode. DIU_IN allows the application program to read the inputs. DIU_OUT allows the application program to write the outputs. And DIU_ROUT allows the application program to read the states of the outputs.
- Added code to READFDBK to allow the application program to read the feedback value from a DL-DIU operating in non-axis mode.
- Added support for the 1.5A 120/240VAC S200-DLS drive.

### V18.0 SP1, Reasons To Update Your Firmware

Digital MMC Smart Drive (MMC-SD-xxx-D Digital MMC Smart Drive R0901.hex)

- Added new option of torque control without feedback for SmartDrive.
- Support for 3kW 230 VAC drive
- Support for safe off on 230 VAC drives
- Support for Regen on 230 VAC drives

S200 DLS Firmware Changes (S200-DLS Drive R0201.hex)

- Support for BiSS with encoder channel

MMC Digital Stand Alone 32-64 (MMC-DSA32-64 Standalone Control R0701.hex)

- Support for DL-DIU
- Support for Dynamic Memory feature

MMC Digital Stand Alone 2-16 (MMC-DSA2-16 Standalone Control R0701.hex)

- Support for DL-DIU
- To correct a problem that could cause Digital Link Communication errors if Ethernet TCP/IP communications traffic was heavy.
- To correct the following issue: If a user downloaded an application as a hex file and then attempted to animate the application the control would crash and cause the slow blinking light to occur.

MMC Digital Resident Control (MMC-Dx Resident Control R0701.hex)

- Support for DL-DIU
- To correct a problem that could cause Digital Link Communication errors if Ethernet TCP/IP communications traffic was heavy.
- To correct the following issue: If a user downloaded an application as a hex file and then attempted to animate the application the control would crash and cause the slow blinking light to occur.

See PiCPro Online Help "Download a Hex File" to update the various firmware files.

### V18.0 RELEASE NOTES

### V18.0 New Features/Changes

- Added support for the following Slice I/O (also, see note below).
  - Digital Link Coupler with high speed 16 In/16 Out 24VDC digital I/O
  - Digital Input Modules, 4/8/16 point Sink/Source – 5V/12V/24V/48VDC, 110V/230VAC
  - Digital Output Modules, 4/8/16 point Sink/Source/TTL/Relay/Triac – 5V/24VDC, 120V/230VAC
  - Analog Input Modules, 4/8 point – 0-20mA, 4-20mA, 0-5VDC, 0-10VDC, +/-10VDC
  - Analog Output Modules, 4/8 point – 0-20mA, 4-20mA, 0-5VDC, 0-10VDC, +/-10VDC
- Added support and selection for BiSS motors.
- S200 Servo Drive with a Digital Link Option now has BiSS feedback support for Direct Drive Rotary motors.

### V18.0 Other Changes

- Corrected issue when a project would try to use 'Program Files' subdirectory. A warning message would be displayed and then PiCPro would quit unexpectedly.
- Corrected issue where the incorrect default library path was added to a project. This would cause warnings when the project was opened and the default library path would have to be manually entered to correct the issue. This issue was introduced in V17.0.
- Corrected issue when printing Digital Drive data where data could print in the wrong column.
- Corrected issue where a user was unable to enter I/O points in software declarations for a MMC 4 axis Servo board if the CPU selected was a MMC Digital Standalone 2-16 axis Servo.
- Firmware download now supports Slice I/O Couplers on Digital Link.
- Corrected issue introduced in V16.0 that would cause resolver boards to not function properly in some PiC900 backplane slots.

### V18.0 Reasons To Update Your Firmware

Applies to all firmware

- Changed Disk Interface to report an error if the root directory is full and creation of an additional entry is attempted.

Digital MMC Smart Drive (MMC-SD-xxx-D Digital MMC Smart Drive R0900.hex)

- Corrected issue in Motor Over Temp calculation. This corrects invalid motor over temperature faults.
- Added support for Slice I/O (see note below)

Digital MMC (MMC-DSA2-16 Standalone Control R0700.hex)

- Corrected issue where IP_ACCEPT would not properly return the IP address of the remote socket.
- Added support for Slice I/O (see note below)

Digital MMC (MMC-DSA32-64 Standalone Control R0700.hex)

- Corrected issue where IP_ACCEPT would not properly return the IP address of the remote socket.
- Corrected issue in the userport CONFIG function where parity, data bit and stop bit could not be properly set up.
- Enhanced FRESPACE function block to display Kilobytes when CFDISK free space is greater than 2 GBytes. Prior to this change, bytes were always displayed.
- Corrected issue so RAMDISK Directory can properly handle the root directory maximum count. An error is now returned when the maximum number of files in the root directory is exceeded. Prior to this change, a factory fault would be generated.
- Added support for Slice I/O (see note below)

S200 (S200-DLS Drive R0200.hex)

- Corrected a problem in which the position of the index mark was not captured when performing a reference on the index mark after the fast input with encoder feedback.
- Corrected a problem in which the drive would not power-up correctly when feedback was not connected.
- Corrected a problem with the fault display when multiple faults occurred.
- Added support for Slice I/O (see note below)

Digital MMC (MMC-Dx Resident Control R0700.hex)

- Added support for Slice I/O (see note below)

Note
To support Slice I/O couplers. the size and order of the motion net data packets (MDT & DMT) changed. This change requires that all firmware in the control and Drives be compatible. As a result, this version is not backward compatible with older versions of firmware. If the firmware is not compatible, the DSTRTSRV function will indicate incompatible version numbers.

See PiCPro Online Help "Download a Hex File" to update the various firmware files.

### Compatibility note: MMC for PC hardware and Windows 64 bit versions

The MMC for PC hardware is not supported under Windows Vista 64 bit version or Windows 7 64 bit version.

To determine the version of Windows that is running:

Windows Vista

> Open the Control Panel, click on 'System and Maintenance' and then click on 'System'. In the window that appears, look for the line with "System type:" and it will either describe a 32-bit or 64-bit operating system. The MMC for PC is not supported on 64-bit operating systems.

Windows 7

> Open the Control Panel, click on "System and Security", and then click on "System". In the window that appears, look for the line with "System type:" and it will either describe a 32-bit or 64-bit operating system. The MMC for PC is not supported on 64-bit operating systems.

### SOFTWARE NOTES

- It is highly recommended that you Rebuild all UDFBs and servo setup files in your system before using version 18.0 SP1. 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.