PTS Release Note V2.1

November 1999

Introduction

This document describes the changes made to the PTS software between version 1.9.1.1 and 2.1.

Arrays

The PTS now supports arrays. Unlike variables which are created by writing to them, an array must be explicitly created before it can be used. This is done using the IA command, for example:

`IA$A[10]`

This creates an array $A with 10 elements $A[1], $A[2], $A[3] up to $A[10]. Each element of the array can be used in the same way as a variable, as a command parameter, in expressions, etc. The following example shows a position being read into an array element and then used in an expression.

`CH1/$A[1]=DP/RF(100+$A[1])`

The array index can be a constant, a variable or an expression which allows many jobs to be done much more simply than previously. The following example sets the elements of a speed array to ascending values:

`IA$SV[10]`
`$I=1`
`$SV[$I]=($I*1000)/$I=($I+1)/RP9`

Array elements can also be used in the same way as trigger variables to trigger a string of commands when the element is written to. The example below shows an array element being used to trigger a speed change:

`$SV[1]>CH1/SV$SV[1]`

Array declarations are saved as host parameters, similar to trigger variable definitions, so that on a restore the array has been declared before it is used in a sequence, etc. By re-declaring an array it is possible to change its size. In this case the contents of the old array are copied to the new array before the old array is deleted.

Array elements are not accessed at channel level. They are handled at host level as for expressions. LV lists all existing arrays with their sizes but not their contents, however LV$A[1] for example lists the contents of the specified element. Array contents are saved and restored by SP bit 5 and RD bit 5 similar to normal variables. RS bit 5 deletes all arrays. LA bit 5 lists all arrays and their contents. RD bit 5 does not automatically do RS bit 5 first.

Array elements can be used with the Operator's panel, Mini Operator's panel, Devicenet and Profibus but not with Modbus or Data Highway.

Servonet Node Table

This provides a way of mapping channel numbers to node numbers in a flexible way so that a system can be configured to include optional nodes. This is useful where a machine has certain core functions but has other parts which can be added as optional extras. The program designer can designate nodes as mandatory or optional and write a PTS program which includes all the options. At start up the PTS scans Servonet to find out which nodes are actually present. If a mandatory node is not found then an error is reported. If an optional node is not found then the table is marked accordingly and any commands issued to that channel will effectively be null commands.

To set up the node table there are two commands:

NTn/t Set node n to type t where t is 0 for optional or 1 for required.
NNn/c Set number of channels on node n to c.

If the node table has been set up (table validated) then the relevant NT/NN commands are listed by LA (no parameter or bit 2). SP bit 2 saves the table to NVM (not done automatically), RS bit 2 effectively deletes the table by clearing the "table validated" flag . Thus RS100/SP100 removes the table from NVM. RN (no parameter) searches all nodes in the table and updates their status. RD bit 2 restores the table (if any) from NVM and this is done automatically on start up before accessing the nodes. If there is no node table in NVM the system constructs one at start up but does not set the "table validated" flag. This means that the table can not be listed by LA or saved to NVM until one or more NT/NN commands have been entered. If there is a node table in NVM then it is restored at start up and the current node configuration is compared to the table as nodes are found. If a mismatch is found (incorrect number of channels or required node not found) then an error is issued, node discovery is finished and the "table mismatch" flag is set in the node table.

Two more commands are provided to query node table state:

NQn Return the state of node n where the state is -1 for dead, 0 for asleep or 1 for alive.
NQ Return the state of the node table where the state is -1 for not validated, 0 for mismatch or 1 for validated and matching.
LN List the contents of the node table in a readable format

SynchroLink on Second CAN Port

On the Machine Controller (CPU360 based unit) it is now possible to have a SynchroLink network on the second CAN port (upper connectors) as well as a Servonet network on the first CAN port (lower connectors). This means that a number of Servonet systems can be linked together with SynchroLink to increase flexibility and extend the physical size of the whole system. The data rate of the SynchroLink network can be reduced if required to increase the maximum distance between units although this also reduces the maximum number of map masters which can be accommodated.

In systems with two CAN ports the machine controller acts as a bridge between Servonet and SynchroLink. An axis module on one Servonet system can be map linked to a master axis on a different Servonet system with the SynchroLink network carrying the map data from one Servonet system to the other. The map data from the master axis is picked up by the machine controller which then broadcasts the data over SynchroLink. The data is then picked up from SynchroLink by the second system where the machine controller broadcasts the map data over Servonet to the map slave module.

This type of system can operate with any type of SynchroLink system including the PTS Mark 2, Mini-PTS 3, Q-Drive Map, etc. CANOpen I/O and encoders are supported as normal on the Servonet network.

The operation of the two networks is very similar to before. However some changes have been necessary to allow the two physical networks to co-exist as described below.

Enabling the Second CAN Port

To enable the second CAN port you must install a jumper link on the CPU360 and enter a software key. The link is fitted between pins 11 and 12 (the bottom two pins) of jumper J11 which is located just behind the second CAN port. To enable the software key, use the SK command to enter the feature and version as follows:

`Feature: synchro2`
`Version: 0`

After changing SK the system must be powered off and back on for the change to take effect. When the second CAN port is enabled DeviceNet is disabled since it also uses the second CAN port. If the second CAN port is not enabled the system still allows SynchroLink nodes to be placed on the Servonet network and accessed as map slaves, map masters or using XN.

SI & CN Commands

The SI command (Servonet node Id) has now replaced the CN command for Servonet networks. SI is used to set the Servonet axis module node numbers and CN is used to set the SynchroLink node number as before. CN is only available on systems having a separate SynchroLink network. The CN command is used both to set the SynchroLink node number and to start and stop SynchroLink and is also saved in non-volatile memory.

ML and NL Commands

On a Machine Controller using the second CAN port the ML (map link) and NL (differential link) commands use the node:channel syntax to link to an axis on SynchroLink where node is the remote SynchroLink node number and channel is the channel number on the remote system. The commands use the channel number only to link to an axis on the Servonet.

On a SynchroLink network the LK command is used on the master axis to enable map transmission. The receiving axis needs to be set up to match the master axis with MP, NP and MM commands.

CF Command

On the Machine Controller and PTS Mk2 the CF command now allows you to set the data rate on port C, the second CAN port. The data rate can be set to 125, 250 or 500 kbps. To change the data rate, enter the CF command, select port C and type in the new data rate. The system power must be cycled for the change to take effect. As the data rate drops the loading on the network grows since the time taken to transmit each message increases. This means that the maximum number of map masters possible reduces with the data rate. The maximum network length and number of map masters for the different data rates is shown in the following table.

Data Rate | Network Length | Map Masters
125 kbps | 500 metres | 2
250 kbps | 250 metres | 4
500 kbps | 100 metres | 8

CQ Command

The output from the CQ command for SynchroLink has been modified to be similar to the Servonet report. It includes a table of the modules found with the number of map transmissions from each. The bus load calculation has also been improved. The binary parameter is unchanged.

When the second CAN port is enabled the CQ command shows information on both the Servonet and SynchroLink networks. The Servonet report now includes a bus load estimate similar to SynchroLink.

Servonet Node Number Limit

The highest node number for a Servonet axis module has been reduced from 60 to 59. This is to allow the machine controller to use node number 60 when it is transmitting map data arriving from a SynchroLink node.

Servonet Clock

Normally the Servonet clock is generated by the Machine Controller. When the system also has SynchroLink on the second CAN port, the Servonet clock is locked to the SynchroLink clock master to ensure that all nodes on both networks are synchronized. This means that if the SynchroLink clock is lost for any reason, the Servonet networks will also lose their clock and any mapped axis modules will stop due to map time-out. The exception to this is at power up before the SynchroLink network has been started by the SI command. In this case the Machine Controller will generate the Servonet clock as normal. Once the SynchroLink network has been started the Servonet clock relies on it as described above.

The SynchroLink node chosen to provide the clock should be the source of most map data and receiver of least, to give the maximum time for data transmission. Note also that there is a trade-off between trace data mailboxes within Servonet, map data transferring to SynchroLink and other host activity. The SynchroLink clock is enabled with the CK command.

Physical Host I/O

The Mini Machine Controller can now have some extra digital I/O on the host unit. This is accessed via the host I/O commands introduced for CANopen I/O using groups 8 & 9 for inputs and group 8 for outputs. This ensures that it does not conflict with CANopen I/O. The HD command sets the debounce period for these inputs in a similar way to the DB command for channel level inputs.

Mini-PTS 4 Serial EEPROM

The Mini-PTS 4 now has a larger serial EEPROM fitted to allow it to save axis parameters and therefore release about 4kbytes in the normal EEPROM for sequences etc. The serial EEPROM is used automatically so it does not require any user intervention. The FM command reports the free space in serial EEPROM as "Spare parameter NVM".

If you are upgrading a Mini-PTS to V2.1 ensure that the larger serial EEPROM (Part No. X25138) has been fitted.

Software Key Changes

SK now accepts input in upper or lower case without causing problems. It is now possible to have up to 14 keyed options instead of the 3 previously possible.

Comment Text

It is now possible to enter a line of comment text which can be saved and displayed as required using the new TX command. This is designed to be used to identify the product or machine which a programme applies to. The TX command works in a similar way to TS. You enter TX without a parameter and the current comment text is displayed followed by a question mark. You can now enter new comment text or press Return to leave the text as it is. The procedure is shown in the following example where system output is in normal text and user input is in bold.

`1> TX`
`20 to 100mm Widgets`
`? 20 to 120mm Widgets`
`1>`

The comment text can be up to 20 characters in length. If more than 20 characters are entered the extra ones are discarded.

Servonet Port A

Port A on a SERVOnet axis module is now forced to RS-232. Previously the setting could be affected by the contents of configuration memory which could make it output RS485 with confusing consequences.

SRV-4 Diagnostics

The SRV-4 can now output exception messages (Bus error, etc.) on serial port A if a DUART is fitted. The PTS tests for the DUART at start up and if it is found, subsequently outputs any exception messages to it. This can help in diagnosing problems where the unit crashes without giving a normal PTS error message.

Module Type

Many of the PTS hardware platforms can be configured either as axis modules or as standalone units, depending on the firmware fitted. From V2.1 these hardware platforms have both sets of firmware fitted and the module type can be configured as axis module or standalone by a software switch.

When the system is configured as a standalone unit, the module type is configured by setting the T option of the CF command to S (standalone) or A (axis module) as required. When the system is configured as a Servonet axis module, the module type is configured from the start up dialogue on the serial port which is used to set the CAN node number, etc.

The hardware platforms affected are:

- Q-Drive Map/Servonet Axis
- Mini-PTS 1+1/Mini-PTS 1+1 Servonet Axis
- Mini-PTS 2+1/Mini-PTS 2+1 Servonet Axis
- Mini-PTS/SRV-4

Firmware Upgrade

All the PTS hardware is now fitted with Flash EPROM memory which can be programmed via the serial port in a similar manner to the Q-Drive. This means that firmware upgrades can be done in the field without the need for an EPROM programmer. Upgrades to the firmware are made using a new bootstrap module which downloads the firmware approximately 6 times faster than the old Q-Drive.

This bootstrap module can be accessed from PTS Toolkit 2000 by selecting Tools->PTS Firmware Upgrade. Select Flash Boot V2.x products in the following dialogue box and then select Unlock from the toolbar and cycle the power to the unit to access the bootstrap shell. To re-program the unit, select Program from the toolbar, locate the relevant firmware file and click on Download. Once programming has finished, select Restart from the toolbar to restart the unit in normal PTS mode or simply cycle the power.

Firmware upgrades can also be done using the Hyper terminal program on your PC if PTS Toolkit 2000 is not available. If you are upgrading an older PTS unit which does not have Flash EPROM memory there are several possibilities:

- For Mini Machine Controller, Mini-PTS 2+1 and Mini-PTS 2+1 Servonet axis, Flash memory devices are available which will fit in the existing sockets. You will have to ask Quin Systems to preload them with the bootstrap code.
- For Q-Drive Map and Q-Drive Servonet axis; although these have Flash memory, it may not be large enough to hold the V2.1 firmware which contains both standalone and axis module parts. In any case the unit will have the old bootstrap code so you will have to obtain a special s19 file to program it. The SRV1+1 card needs its Lattice device reprogrammed with a new file (plsi078.jed) to work correctly with the new version, and the IRT drive card must be programmed with version 2290 or later firmware.
- For Mini-PTS, SRV-4, PTS Mark 2 and Machine Controller, the only option is to use conventional EPROMs which cannot be upgraded via the serial port.

Faster Processor

The SRV-4 and SRV-2 boards are now fitted with a faster processor, which runs at up to 20 MHz instead of 16 MHz. The new V2.1 firmware is configured to use the faster clock speed as standard, and cannot be used on older boards fitted with the slower processor. The higher clock speed gives a performance increase of at least 20% when executing commands and sequences, and minimises the chance of overloading the system when the servo loop is very busy. New boards with the faster processor still run at 16 MHz when using older firmware versions.

Modbus

Modbus Unit Number

The Modbus unit number is now set using the M option of the CF command. If this has not been set the unit number defaults to 1.

Comment Text

Modbus Input Registers 2 to 11 now hold the comment text as 2 characters per register. This allows a PLC to verify the program identity by reading the input registers. If product text is received over Modbus in a setup message (special to AFE displays) the text is copied into the TX text field.

Output Group 2

The output lines in group 2 are now available as coils starting at address nn18 where nn is the channel number. On most PTS units these are virtual outputs connected to virtual inputs so that toggling the output can be used to trigger a DI function on the PTS.

Host I/O

Host I/O lines (groups 10 to 17) are used by CANopen I/O, Devicenet and Profibus. Input groups 10 to 17 are now available as system holding registers starting at address 63 and as system input registers starting at address 15. These registers are read only. Output groups 10 to 17 are available as system holding registers starting at address 72. These registers are read/write.

On the Mini Machine Controller there are two new input groups (8 and 9) which are used by the host level inputs. The are now available as read only holding registers starting at address 61 and as input registers starting at address 13. There is also a new output group (8) used by the host level outputs. This is available as a read/write holding register at address 71.

Operator's Panel Messages

All messages displayed on the Operator's Panel can now be specified in the configuration to allow the Panel to be completely customized for foreign languages. The main Configuration menu now contains an extra sub menu "Change Setup Mode Prompts". This sub menu allows you to specify foreign language equivalents for the following messages:

Interlock

Press ENTER key to continue :
Aborted by ESCAPE key
Aborted due to timeout

List

Please enter your passcode :

Numeric Field

Enter a new value :

Save Option

Saving values ...
Press ENTER key to continue :
Values have been saved

ROM Number

The ROM number is now included in the firmware file and is displayed by the VN command.

Trigger Variable Masking

Previously trigger variables were masked globally while the auto start sequence was running but this was not shown in the VX listing (all trigger variables appeared to be enabled). Also when MV was entered with no parameter variables were globally masked (and individually masked) so enabling a single variable did not work after MV and the VX listing was incorrect as it showed the variable as enabled rather than masked.

The VX listing has now been changed to reflect the true state of trigger variables, i.e. if variables are masked globally then VX shows them as masked. Secondly the following commands:

`MV`
`EV$VAR`

enable $VAR but leave all other variables masked.

Edit Mode

The ED command has been changed to save all incoming commands (including ES, EM, etc.) in a text buffer. When the GO command is seen, the checksum is verified (if supplied) and then the buffered commands are executed line by line with a rotating bar. While this is happening no other commands are accepted.

These changes have the following advantages:

- The size of the download file becomes unlimited (previously 32k).
- The commands are executed in exactly the order they are entered.
- If the checksum fails no changes are made to the system. Previously sequences, maps & profiles were entered before the checksum was verified.
- The user will be able to see when the commands have been executed and will not be able to SP, etc. until they are finished.

DeviceNet

The PTS can now communicate with a PLC using DeviceNet. The PLC can access host I/O and a user defined set of variables or array elements. The new command DQ provides access to a shell which is used to configure the interface and get diagnostics on CAN bus traffic.

Profibus

The Profibus interface has been modified to provide the same facilities as DeviceNet, namely host I/O and a user defined set of variables or array elements. To make maximum use of the limited process data space available variables can be accessed as 1, 2 or 4 byte objects.

CPU360 Serial Port

The CPU360 serial port could send XOFF without a subsequent XON causing the PC to hang. Also the CPU360 could send XON when there were no buffers available causing it to lose characters. Both these problems were fixed at V1.9.2.1.

QQ Query

It is now possible to query QQ to a variable. E.g. $VAR=QQ34. This may be useful for monitoring Q-Drive parameters in a PTS program. This change was introduced at V1.9.2.4.

Ethernet Licence

The Ethernet interface licence now requires the correct version and a generated key to enable it. Previously it was possible to enable Ethernet using a version of 0 which allows the PTS to generate a key itself.

Motion Generator

The Motion Generator now works on a Machine Controller with no Servonet axis modules connected.

Position Sample Timestamp

The SRV1+1 module used in the Q-Drive has been modified to provide a hardware timestamp on position data messages received from the drive when using the standard resolver feedback. This gives improved accuracy on the sampled position values, and shows a particular improvement on the measured speed of the motor axis. This feature is available from firmware V1.9.2.1 onwards. These newer versions can be used in unmodified units, but will not show any improvement in position sample accuracy.

Joystick Control

Two joystick control modes have been added. An axis can be set to use the analogue input value as its master position or speed when in mapping. This is controlled by the AM command. AM2 selects joystick position mode, and AM3 selects joystick speed mode. When either of these is set, the normal master position data for the slave axis is replaced with a value calculated from the analogue input signal. This value is always subject to filtering by the BT parameter to reduce jitter due to noise on the analogue signal. In joystick position mode, the master position data is set to the analogue input value, giving a range of 0 to 4095 counts. In speed mode, the master speed is set to the analogue input value, giving a range of +/-2047 counts per second. In addition, when joystick speed mode is selected, the AD parameter is used to set a deadband around zero, and MW bits 0, 1 and 4 are set to force speed mapping and to enable the software clutch. The slave axis can use the normal MB, MF and SM parameters to produce the required position or speed range.

Encoder Filtering

Encoder filtering is enabled by setting CW bit 0, and uses the VT parameter to set the filter time constant. The filter is now applied to the input encoder speed, not just to the measured speed as before. This allows filtering to be applied to a master encoder directly, without requiring an extra virtual axis speed mapped to the master encoder to allow the use of the BT filter.

Change to Constant Velocity

It is now possible to use the VC command to change directly from mapping, moving or executing a profile to the constant velocity state. If no direction sign is given, or the specified direction is the same as the current direction, then the motor continues in the current direction and maintains the current speed. If the specified direction is opposite to the current direction, then the motor stops and reverses at the speed set by SV.

Change to Move

It is now possible to use the MA and MR commands to change directly from mapping, moving or executing a profile to a new move. If the axis is mapping or executing a profile, then the current speed is maintained, otherwise the axis ramps to the SV set speed. If direction constraints are set in MW, these are used to decide the direction of the new move. If no constraints are set, then the move direction is calculated normally, relative to the current position. If the new move is in the same direction, then the axis continues without stopping until it reaches the end of the move. If the new move is in the opposite direction, it stops and reverses. Note that this also allows the target position of a move to be changed by issuing a second move command before the first move has finished. In this case the distance and direction of the new move are calculated relative to the end position of the current move.

Acceleration and Deceleration Ramps

Setting CW bit 1 now enables s-ramps on acceleration and deceleration in MA, MR, VC and ST commands. The ramps are calculated as sine-squared curves, and provide very smooth motion. All ramps take the same time and distance for both s-ramps and linear ramps, so that changing from one to the other will not change the time taken to execute a movement.

Reference Options

There are two changes to the reference options set by RW.

RW bit 1 is no longer used to select the action when reference errors are greater than SR. This is now determined by the values of the SR, LR and FR parameters. SR now only sets the maximum reference correction.
Setting RW bit 1 allows the minimum correction speed to fall to zero when the motor speed is zero, instead of having a minimum correction speed of 1 count per tick. Two customers have requested this option to prevent motors creeping due to reference errors when the machine is stopped.

RW bit 2 no longer enables deferred reference correction. If RJ is set to a non-zero value, then deferred correction is enabled. If RJ is zero, then deferred correction is disabled.
Setting RW bit 2 delays the RA output (if defined) until correction begins at the RJ position. Normally the RA output is set when the reference is detected, whether or not deferred correction is in use.

Profile Scaling

When a profile is executed it now applies the SM scale factor to the profile data.

Drive Alarms in PC

Q-Drive units now check the drive enable state continuously and report any drive alarms immediately, even when sitting still in the PC state, instead of waiting until any requested motion fails.

Stepper Motor Controller

General Description

A new unit has been developed to allow stepper motors to be linked into a SERVOnet system. It is (loosely) based on the MiniPTS 1+1 unit, but has many differences due to the limitations of the stepper control function on the processor. It controls up to three motors as a SERVOnet slave module. It works with two-phase bipolar stepper motors having a low inductance and resistance, suitable for use with pwm current drive techniques.

The unit accepts all standard PTS parameters. Those that are not used by the stepper controller accept any value, and return their default value when queried. Other commands (not parameters) that are not supported by the stepper controller return the "command not available" error message.

Stepper motors are open loop devices. There is no position feedback from the motor to the controller. If the step rate (velocity) is set too high for the motor and load, the motor simply stalls or skips steps. There is no way to detect this from the controller. The step rate should be set during commissioning at a suitable value.

The stepper controller has a limited set of useful commands. The motor drive current can be turned on and off with the PC and MO commands. From the PC state, the MA, MR and VC commands are available to move the motor at the speed set by SV (or SS if VJ is set to 1). The system uses fixed length linear acceleration ramps which are scaled with the set speed. The motor may be stopped by the ST, AB or MO commands. The unit supports the limit switch and LH/LL high/low position limit error functions, which force the motor off state.

Most input and output functions are available, including referencing. Referencing allows initialisation to a home position with IN or IB, and correction of the move target position when using the MA and MR move commands. The motor speed cannot be changed while moving.

The unit has no analogue inputs or outputs, and all functions that use these facilities are disabled. The stepper motors do not support mapping to any other axis, although they may be used as master axes to other slave motors across ServoNet.

The stepper controller has three LEDs as a simple status indicator for each motor channel. The following table shows the colours and their associated states:

> OFF | Disabled (MO)
> GREEN | Enabled, stopped (PC)
> YELLOW | Moving (MA, MR or VC)
> RED | Motor error (LH, LL or DL)

Commands Supported

Mode commands:
MO, PC and VM are supported.

Move commands:
MA, MR, VC, AB, ST, IN, IB are supported. ID is not supported.

Set parameters:
SB, SV, SS, ZC, BC, DN, VJ, RS are supported.
SW, SA, DC, SD are not supported.
Speed changes have no effect while moving, but the new values are used on the next move.

Sequence commands are supported.
Profile and map commands are not supported, except for LK and LW (master only).

All wait commands are supported.

Error commands EW, LH, LL, RT are supported.
SE, TO, MT, EA are not supported.

Closed loop control:
Gain parameters and analogue output commands are not supported.
KI selects low current (KI0) or high current (KI1) for the motor. The drive currents are set by sense resistors on the unit. The standard values are 240mA for the low current and 400mA for the high current setting.

I/O commands:
All digital i/o commands are supported.

Reference commands:
Most reference commands are supported.
Initialisation with IN or IB works as normal.
Auto-referencing is active only during MA and MR moves, and adjusts the display position and the move target position. RV selects immediate correction (RV0) or correction at motor speed (RV>0).

Configuration commands:
Most I/O configuration commands are supported, except as listed here.
DZ, NB, NZ, FC commands are not supported.
FS selects half step mode (FS0) or full step mode (FS1) for all three motor channels on the unit. Full step mode normally provides 200 steps per turn, using standard 1.8 degree motors. Half step mode provides 400 steps per turn, twice the resolution of full step mode, but at a reduced maximum step rate.

All display and list commands are supported.

Tension control is not supported.

Bugs Fixed

Problem MPTS-387

Using DM when TI is set can cause spurious reference and snapshot fields to be displayed, no output at all, or in extreme cases a bus error.
Fixed at : Host V1.9.2.1

Problem MPTS-389

Stopping from XP with the ST command gives a motor position error if the profile data includes negative positions (relative to the profile start position).
Fixed at : Axis V1.9.2.1

Problem MPTS-390

If the motor speed is increased near the end of a move so that the shape changes from trapezoidal to triangular, then the deceleration position is not calculated correctly. The motor continues to accelerate to the end of the move and stops abruptly.
Fixed at : Axis V1.9.2.4

Problem MPTS-392

Reference timeout errors during initialisation may not be reported. With a normal IN command, any RT error is detected, the IN command is terminated and the error is reported as a user error, stopping any calling sequence. With any other IN command, the RT error is detected and the IN command is terminated, but the error is not reported and thus does not stop the calling sequence.
Fixed at : Axis V1.9.2.1

Problem MPTS-393

When the IN command is used with no reference inputs defined to reset the position on a Q-Drive to the resolver data value, it does not apply the current RF offset.
Fixed at : Axis V1.9.2.1

Problem MPTS-394

A slave axis does not clutch immediately to its master when the projected slave speed is zero, even if it is at the correct position. It only clutches in when the projected slave speed is non-zero. This affects the new software clutch introduced at V1.9.1.1 which uses CL instead of CT.
Fixed at : Axis V1.9.2.1

Problem MPTS-395

Mixing CAN and SSI encoders on a MiniPTS 2/3 fails unless the SSI encoder(s) are set up with the FS command after the CAN encoder(s).
Fixed at : Axis V1.9.2.1

Problem MPTS-396

Setting up a second SSI encoder causes the position values returned by the first SSI encoder to be multiplied by 2. This affects any SSI encoders set up to use Gray code.
Fixed at : Axis V1.9.2.1

Problem MPTS-397

If the analogue loop sense has been reversed with AW bit 7, and the tension control loop integral term saturates, then the integral term never comes out of saturation.
Fixed at : Axis V1.9.2.1

Problem MPTS-398

Two faults with the new software clutch.
1. If the XM command is executed when the slave axis is within the mapped clutch length from the ramp start position and the master axis reverses direction, then the slave axis suddenly jumps backwards into synchronisation with the master axis in the new direction.
2. If XM is executed when the slave axis is exactly at the mapped ramp start position, then the slave remains stationary until the master axis reaches the end of the clutch length, when the slave jumps into synchronisation at the clutch ramp end position.
Fixed at : Axis V1.9.2.2

Problem MPTS-399

When upgrading a Q-Drive Servonet Axis module to V1.9.1.1 serial port A stops working. This is because port A has been set to RS-485. Previous versions of software forced the port to RS-232 when used as an axis module but V1.9.1.1 uses the last setting.
Fixed at : Axis V2.1

Problem MPTS-401

When a map or profile is downloaded to a Mini-PTS 2+1 Servonet Axis module it can be overloaded which leads to poor servo control evidenced by the motor knocking, etc.
Fixed at : Axis V1.9.2.1.

Problem MPTS-402

The error message "No response from drive" should include a channel number.
Fixed at: Host V2.1

Problem MPTS-404

Using the RS or RD command when a lot of trigger variables are defined can occasionally give a bus error.
Fixed at : Host V2.1

Problem MPTS-405

After 12 or more hours of use the system stops responding to queries in strings (e.g. CH1/DP) and requires a double Return to give a prompt. This is caused by PTS Toolkit 2000 issuing the TS command as part of the connection procedure.
Fixed at : Host V2.1

Problem MPTS-406

Motor errors are not reported over Modbus, Data Highway or Ethernet when EA is set.
Fixed at : Host V1.9.1.2 & V1.9.2.2

Problem MPTS-407

If CH to a variable (e.g. CH$VAR) is used in a sequence following CH to a constant (e.g. CH9) then channel level sub-sequences may be overwritten and produce the wrong action.
Fixed at : Host V1.9.2.2

Problem MPTS-408

On PTS Mk2 with over 20 channels it is possible to have more than 32K of parameters, which will not download or restore (RD) properly. The effect will be no channel level parameters set (e.g. KP and DI).
Fixed at : Host V1.9.2.3

Problem MPTS-409

On the Mini-PTS 1+1 V1.9.2.x Synchrolink does not work. When you attempt to map across Synchrolink you get a "Map update timeout" error. This problem only affects the Mini-PTS 1+1.
Fixed at : Axis V1.9.2.3, ROM811

Problem MPTS-410

Profile execution which goes in the negative direction over a bound as a result of negative profile values, causes motor errors.
Fixed at : Axis V1.9.2.4

Problem MPTS-411

When SU is queried to a variable (e.g. $SU1=SU) the correct value is not assigned to the variable. This is because SU returns a floating point number but the returned value is not interpreted correctly.
Fixed at : Axis V2.1

Problem MPTS-412

Changes to RW bit 1 are ignored until one of the parameters SR, LR or FR is changed. This problem affects V1.9.1.1 or later.
Fixed at : Axis V1.9.4.1 and V2.1