Versions using Multi-Threaded (RTOS) Real Time Operating System  V2xx series


       

V206

Fixed known Bug from V205. Test for valid motion setting now check when starting move instead of as commands entered. Added speed improvements for standalone programs. 

Model        

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CMD-4CR

V206 for CMD-4CR

1ec4b1410f6e3181c6a029e9442465e3

CMD-4EX-SA 

Coming soon! V206 for CMD-4EX-SA


       

V205

Fixed bugs with buffering and circular interpolation moves. Fixed known Bugs from 204 with V0 - V4 being set with moves. Added additional checks to catch invalid inputs related to HSPD, LSPD, ACC, DEC, SCV, MPE, LT, SCV, SL, SFL, and SFLSD . Standardize error messages and expand replies to be more helpful. 


The CMD-4EX-SA version now includes the default settings for the CMD-4EX-SA series of controllers. 

The CMD-4CR version is updated to V205.1  This fixes an issue where the stored POL[axis] was over written by the default on power-cycle. 


V205.2 fixed an issue where  PS[axis] was returning the correct speed values, but PS was reporting -1 for axis Y and incorrect values for axis Z and U. 

Model        

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CMD-4CR

V205.2 for CMD-4CR

7766170422ad93fde28512de51b2dc50

CMD-4EX-SA 

V205.2 for CMD-4EX-SA

e7c0a65b4d9bfc395f40576e6c5692f2

       

V204

Fixed known Bug from V203 with linear interpolation move running at 1pps, and UART, RS485 communication. Added new service commands, 

Model        

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CMD-4CR

V204 for CMD-4CR

901750a9192bf07458328ffb045a76e5

CMD-4EX-SA 

V204 for CMD-4EX-SA

20e9c4164dcdc53a35bc1385d5ea1ebd

       

V203

Fixed known Bug with Standalone, Buffering, and USB communication.

Model        

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CMD-4CR

V203 for CMD-4CR

a2aa1f2e04ff2f9e43085b98059c9f2a

CMD-4EX-SA 

V203 for CMD-4EX-SA

927d6890d452e4713498f099ab6f255e

       

V202

Fixed known Bug with CMD-4EX-SA with SCV, POL, I/O, and Motor Driver Microsteps commands.  Added 4 axis in buffer mode (Vector Motion Mode). 

Model        

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CMD-4CR

V202 for CMD-4CR

15399fe48a9bbb682cb4911c803c3b41

CMD-4EX-SA 

V202 for CMD-4EX-SA

15929f5757342c2b8f4fe37d72b8fabb

       

V201

Standalone is fully supported, All features from V129 were implemented. Added improvements to on-the-fly, full support S-curve during on-the-fly, and SSPDM is now only required if changing speed levels, See Appendix Speed Settings.  Support for soft-limits was added (SFLP[axis], SFLN[axis]).  Jerk control for S-Curve was added (JKA[axis], JKD[axis]).  CLR command now can be sent without axis information and clear errors from all axes. 

Model        

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CMD-4CR

V201 for CMD-4CR

14cddfbc193872e568d78e59e077766e

CMD-4EX-SA  (DNU known issues)

Please use CMD-4CR above

V201 for CMD-4EX-SA

6b9f0294ff855bb6d8a49b713d9c67ac


V200

First version with RTOS, Ported from V127 and does not support Standalone (A-Script) language. Support for Hardware Serial Number was added.

         For V200 firmware please contact Nippon Pulse