Commander Firmware Version History:

V122: Commander re-branded CMD-4CR (changed from PMX-4EX-CR)

V123: Continuations Sync mode added. SYNC[axis] bit 3 = 1

V124: Add feature SyncWindow to enable Continuations Sync only between two points

 – Added commands: SYNWF[axis], SYNWO[axis], SYNMAX[axis], SYNMIN[axis]

V125: Fix issue with Continuations Sync mode

V126: Firmware fixes.  

- PMX_4JX_OPTION version made the default standard.  ID for PMX_4JX_OPTION is now CMD-4CR. This makes the following options standard and enabled for all CMD-4CR:

    • Servo Motor Interface
    • Latch Function
    • Sync Functions
    • 13 Homing modes
    • Joystick Functions
    • PWM Functions

V127 – Fix SSPD[axis] not working when S-curve enabled. PWM1, PWM2  now have same phase. Remapped MPE and MPG. Added code for compiled SCV. BF and BSTART now return error if buffer is off.

V128 – Add Sync Buffer Support. New commands: SYNBO – SYNC Buffer on Enabled, SYNBF – SYNC Buffer off Disabled. SYNBSTAT (Read Only)Returns sync buffer status (is it enabled,current count in sync buffer, max number of entries available in sync buffer);

    • In sync buffer mode SYNP(axis) command loads the sync buffer

V129 – improvements to StepnLoop operations. Added ability to make Homing Moves at Low speed (mode bit 4 =1) or HighSpeed  (mode bit 4 =0).

Starting With V200 of the Commander Firmware, the commander was moved from a Single-Threaded bare metal system to a Multi-Threaded Real Time Operating System.

V200 – First version with RTOS, Ported from V127 and does not support StandAlone (A-Script) language. Support for Hardware Serial Number was added. 

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-reset 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. 

V202 – Fixed known Bug with CMD-4EX-SA with SCV, POL, I/O, and Motor Driver Micro-steps commands.  Added 4 axis in buffer mode (Vector Motion Mode). 

V203 – Fixed known Bug with Standalone, Buffering, and USB communication.

V204 – Fixed known Bug from V203 with linear interpolation move running at 1pps, and UART, RS485 communication. Added new service commands.

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.

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.

V207 – Fixed known Bug from V206. Added speed improvements for standalone programs. Fixed bug where ABORT[axis] at times would not stop all axis involved in linear interpolation move. Increased stability of StepnLoop, Abort, and Standalone programming.

V300 of the Commander Firmware is only supports Gen 5 commander hardware.  

V300 – First version for Gen 5 commander hardware. Ported from V207 and does not support StandAlone (A-Script) language.

V300.1 – Fixed UART to support CR end of line. Compiler directive support for CMD2CR and CMD8CR models.

V300.2 – Added code to support EXSTP (external stop). Support for SN (Serial Number) added. Fixed encoder register, circle command, limit polarity.

V300.3 – Changes to MST command to support EXSTP. 

V300.4 – Changes on board LED to provide blue heartbeat. Changes to motion buffer to support acceleration and deceleration with direction change.  

V300.5 – Motion buffer fix to support first move in negative direction.

V300.6 – Major update to Motion Buffer. Functions related to the Motion Buffer have moved to MotionBuffer.cpp. The Data Structure has changed CommanderStruct.hpp. Added calcRampDownPoint() to p646_Motion_Control.cpp Added new Command BTUNE, RMG can now return rmg in addition to writing to asic. Motion buffer reviews every buffer move and sets the correct profile for each move.  Motion Buffer now has its own thread.

V300.7 – Analog Out added. Fixed RDP for buffer motion.

V300.8 – Support for StandAlone (A-Script) language added.

V301BL – First production release. Addition of boot-loader.

V302BL – Fixed known Bug with STORE that data was overwritten on startup.