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- See the user manual for firmware upgrade instructions.
Fri, 17 Jul 2026
- A889, Changing TM through Aux serial port in US1 mode will cause timeout
- A902, Torque doesn't fold back to TL without internal amplifier installed on corresponding axis
- A906, Auxiliary serial encoder position jumps around sporadically
- A911, Assigning @AN to a per-axis command can result in the value being applied to wrong axis
- A912, Issuing CN repeatedly can cause a loss of communication
- A913, Issuing II0 within #ININT can prevent it from being re-enabled
- A915, 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
- A931, 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
- A942, BI/BC initialization can fail in some cases when the axis is configured with MT-1
- A944, Commanded torque can jump to maximum value with large position error
- A946, Issuing BP can corrupt TA data from amplifiers
- A949, ^R^S and RS do not clear latched amplifier fault for D3547 and D3540
- A950, SH is not burnable for D3547 axes configured for steppers
- A959, IF Statements do not properly evaluate the _MT operand
- A962, D3640-BRUSH now identifies as D3643
- A968, First string received on Aux serial port is not saved in P2ST
- A978, Enhancement to prevent sample time from drifting over time
- 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
- Improved accuracy of analog inputs read when an internal amplifier is installed
Thu, 31 Aug 2023
- Analog Feedback no longer causes cross-coupling on adjacent inputs
- Added @AO command for querying the analog outputs of connected RIOs over Modbus
- Added SU command for troubleshooting without automatic subroutines
Mon, 13 Feb 2023
- 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
- Ending Contour Mode no longer disrupts Ethernet communications
- SH now consistently clears the ELO flag and enables all axes if the ELO input is no longer active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
Wed, 10 Nov 2021
- Fixed issue with analog inputs not associated with an axis always reporting 0
Mon, 26 Apr 2021
- 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
- Analog Input data in Data Record and Record Array now instantaneous and not averaged
- Enhanced Amplifier Error Mode (AZ) now burnable on the D3540
- Adding an LI segment that was too large would cause a discontinuity in RP
Tue, 17 Mar 2020
- Addressed initialization and commutation bug with D3547 amplifiers. Firmware version 1.3e should not be used with D3547 amplifier
dmc-4103-r13e
Mon, 03 Feb 2020
- Added support for new D3547 amplifier
- Added support for enhanced amplifier error mode for D3540 and D3547 amplifiers (see AZ command for more information)
- Improved firmware upgrade when using GDK software
- Addressed a flash timing issue where in some instances a checksum error was generated when burning in data with BN, BP, or BV commands
- Improved accuracy of analog readings
- Fixed commutation initialization issue on D3640 amplifiers when more than one axis is initialized
Mon, 03 Jun 2019
- Peak Torque timing now dependent on milliseconds and not samples
- Stepper Low Current Mode enhancements
- RPN and RPM report with the correct formatting
- Modbus intermittent addressing issue for @AN[], @IN[], @OUT[] resolved
- SSI status/data overlap resolved
- AU? reporting issue on trapezoidal commutation amplifiers resolved
- For BISS encoders, TP will cease to update when the Error Bit is active
- BA enhancement for GDK use
- AU? reporting issue on sinusoidal commutation amplifiers resolved
- SS and SI command reporting issues resolved
Tue, 20 Nov 2018
- DL can cause drop in communication
Wed, 07 Oct 2018
- CF? properly reports a correct handle for unsolicited messages
- Dimensioning an array with a negative value is illegal and is properly handled
- Enhanced notch filter with negative notch frequency to be applied on the profiler
- Enhanced ID command to provide CPLD revision
- IT filtering on the first axis no longer affects the second axis
- For BISS encoders, warning or error bits no longer affect update of TP
- Hall error properly reported if BI-1 is used with sine amplifier
Mon, 02 Jul 2018
- Support for GDK Step-By-Step
- Support for enhanced amplifiers
- Performance enhancements
Controller firmware can NOT be upgraded from 1.2f to 1.3a in the field.
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
- Re-fix, blocks all multicast for all ports if no IP
- JS evaluates expression incorrectly without parenthesis
- BX command ignores the sign of the n parameter
- Limits to prevent overflow with ^S^A and ^S^B