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- See the user manual for firmware upgrade instructions.
Fri, 17 Jul 2026
- A902, Torque doesn't fold back to TL without internal amplifier installed on corresponding axis
- A905, BISS/SSI configured for Aux encoder can corrupt corresponding axis _TD and @AN
- A910, Assigning @AN to a per-axis command can result in the value being applied to wrong axis
- A913, Issuing II0 within #ININT can prevent it from being re-enabled
- A914, BISS/SSI initialization in continuous mode can result in an incorrect large positive position
- A917, BISS encoder with less than 16 data bits can break continuous mode operation
- A922, BI/BC initialization can fail in some cases when the axis is configured with MT-1
- A932, Auxiliary serial encoder position jumps around sporadically
- A939, Burning a BC value for an axis not connected to a sine amp changes the number of axes
- A949, ^R^S and RS do not clear latched amplifier fault for D3547 and D3540
- A951, SH is not burnable for D3547 axes configured for steppers
- A952, Commanded torque can jump to maximum value with large position error
- A955, Firmware download over Ethernet fails if D3547 is connected
- A959, IF Statements do not properly evaluate the _MT operand
- A960, _TD register fluctuates for certain cross-correction values, backlash firmware only
- A961, D3640-BRUSH now identifies as D3643
- A989, Modbus commands that result in a modbus error can result in corrupted target array data
- D3740 now supports enhanced error reporting like the D3540
- BISS SS command enhanced for continuous mode initialization with CDS bit
Tue, 03 Oct 2023
- Fixed issues with downloading firmware to the controller
- Internal firmware fixes
Thu, 31 Aug 2023
- Analog Feedback no longer causes cross-coupling on adjacent inputs
- sin firmware now also initializes RP to the same value as TP when AF is burned in
- Added @AO command for querying the analog outputs of connected RIOs over Modbus
- Added SU command for troubleshooting without automatic subroutines
Fri, 24 Feb 2023
- YA and LC can no longer corrupt the reported amplifier status
- The DMC now correctly rejects packets from sources outside its SM subnet
- The notch filter on profiler no longer affects redefining the position via the DP command
- MO;SH now consistently clears the ELO flag and enables all axes if the ELO input is no longer active
- Error routines are no longer disabled by ending #ININT in a multithreaded program without thread 0
- @AN[] now continues updating even when Analog Feedback (AF) is enabled
- TP now correctly reflects the input voltage when AF is burned in and the controller reset
- Enabling Analog Feedback (AF) initializes RP to the same value as TP
Mon, 26 Apr 2021
- fix from 1.3e, RD command silently ignoring axis specific data sources
- fix from 1.3e, 1.3e _OC always returns 0 on 4 axis units
- fix from 1.3e, AZ2 during boot fails to enable enhanced error clearing
- _AZ operand now returns 2 when enhanced error clearing is enabled, 0 when disabled
dmc-4000-r13e
Mon, 29 Mar 2021
- _AU Operand was not reporting values at or above 10
- Serial Firmware: TP reported incorrect value if the initial position was greater than 15 bits
- AU Command was not throwing out of range error for values above 12
- Adding a 512th segment to the LI motion buffer caused monitor drop
- Backlash Firmware: Defining a compensation table on the A axis would effect other axes
- Analog Input data in Data Record and Record Array now instantaneous and not averaged
- AR, AP, AD commands were not taken for axes other than A in comma separated format
- Enhanced Amplifier Error Mode (AZ) now burnable on the D3540
- Adding an LI segment that was too large would cause a discontinuity in RP
Wed, 13 May 2020
- Added support for new D3547 amplifier
- Added support for new D3540 enhanced amplifier error mode (see AZ command for more information)
- Fixed commutation initialization issue on D3640 amplifiers when more than one axis is initialized
- Improved accuracy of analog readings
- Addressed a bug where burning AF command would affect communication on some units after a hardware reset
Mon, 13 May 2019
- CF? properly reports a correct handle for unsolicited messages
- Dimensioning an array with a negative value is illegal and is properly handled
- Peak Torque timing now dependent on milliseconds and not samples
- Stepper Low Current Mode enhancements
- IT filtering on the first axis no longer affects the second axis
- For BISS encoders, TP will cease to update when the Error Bit is active
- Hall error properly reported if BI-1 is used with sine amplifier
- BX Command enhancements
- Modbus intermittent addressing issue for @AN[], @IN[], @OUT[] resolved
- SSI status/data overlap resolved
Tue, 20 Nov 2018
- DL can cause drop in communication
Mon, 02 Jul 2018
- Support for GDK Step-By-Step
- Support for enhanced amplifiers
- Performance enhancements
Controller firmware can be upgraded from 1.2i to 1.3a in the field.
Upgrading firmware in the field will only provide firmware performance enhancement.
To include all new features that come with 1.3 firmware (including GDK Step-By-Step and enhanced amplifiers), a controller needs to be returned to the factory.
For more information please contact a Galil Applications Engineer
https://https://www.galil.com/about/contact
Mon, 05 Mar 2018
- Stepper math enhancement, shorten calculation time
- Analog input @AN value can get bad value when SSI is enabled
- JS evaluates expression incorrectly without parenthesis
- Limits to prevent overflow with ^S^A and ^S^B
- Fix FI with -sin firmware