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Firmware Basics
Introduction
Version Control

Feature List
Compensation
Filter Algorithms
Gain Scheduling
Gantry Support
Integrator Reset
MechaWare
Motor Encoder Ratio
Pre Filters
Post Filters
P/PI Mode
S-Curve Jerk Algorithm and Attributes
Status Outputs
Sub-Sampling




Firmware Option # List
1 - High Performance
2 - S-Curve Jerk
20 - Mechaware
21 - Mechaware + SCurveJerk
22 - Mechaware FDK
30 - Firmware Development Kit
40 - Custom Firmware
41 - Custom Firmware
42 - Custom Firmware
43 - Custom Firmware
44 - Custom Firmware
45 - Custom Firmware
46 - Custom Firmware
47 - Custom Firmware
48 - Custom Firmware
49 - Custom Firmware
97 - Custom Firmware (Supported by RSI)
98 - Custom Firmware (Supported by RSI)

     
 
Firmware Option #
(M - Standard Firmware)
Features Disabled by a Define
Default
1
2
20
21
22
30
40
41
42
43
44
45
46
47
48
49
97
98
Backward Motion
   
 
 
 
 
       
 
Cam
 
 
       
 
Commutation
   
 
 
 
           
 
Control I/O
DAC Offset
DAC Scaling
DAC Data Type Long
Electronic Gear
 
       
 
Move Metrics
 
 
 
Program Sequencer
       
 
 
Stepper
 
 
 
SynqNet Bad Packet Compensation
SynqNet Test                                      
Triggerable Motion Modify
Features Enabled by a Define
Default
1
2
20
21
22
30
40
41
42
43
44
45
46
47
48
49
97
98
Compensator
 
 
 
     
     
   
Encoder Ratio
 
 
Encoder Modulo
 
     
 
Encoder Reverse Modulo
             
     
           
Gantry Support
 
 
 
 
Alternate Trajectory Creation Algorithm (S-Curve Jerk)    
 
     
     
*
 
*
       
MechaWare      
           
   
Motor Status Outputs                
     
           
PIV Filter Only (No PID)                  
               
PreFilter
 
       
     
             
PostFilter
           
   
         
Post Filter IIR              
   
         
Post Filter BIQUAD    
       
         
Post Filter SS BIQUAD              
   
         
Post Filter INT BIQUAD              
   
         
Post Filter INT SS BIQUAD              
   
         
Firmware Developers Kit            
                       
MechaWare Firmware Development kit                                      
Backlash Compensation
 
               
             
Backlash Compensation Hystersis                                      
Custom Modulo Output                      
             
Position Feed Forward (KpFF)    
                               

 

 

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