INSTALLATION NOTES

    IMPORTANT:

    The WinFiles directory in the application directory contains some window dependent files for 
    this application. If your application does not find a DLL, you may find it in this directory.

    To save the latest used program control settings, the mm.ini file must NOT be write protected.
    If it is write protected, right click on file name, select 'Properties' and remove check
    box for 'Read-only'. Click 'Apply', then 'OK'.

RELEASE NOTES
1.37B
	This release added special features supported by Glentek Alpha series amplifiers.
	+ Added autophasing in 'setup commutation' window;
	
	+ Added auto scaling GIM in 'setup motor parameters' windows;
	
	+ Improved 'setup Digital I/O' window for high speed spindle application.

1.37
	This release is designed to support Glentek Omega and Alpha series amplifiers.
	+ Added 'Binary Communication' protocol for Alpha series amplifier;

	+ Added 'Tach Input' option in 'Setup Analog Input/Output';

	+ Added 'Brush' and 'Induction' option in 'Setup Commutation';

	+ Added new features to support Alpha series amplifier configurations;

1.36 
    This relese is designed for and tested to run with amplifier firmware version 3.32 and earlier.
       
	+ Added 'Setup Auto/Manual Current loop tuning' button in 'Setup Motor Parameters' dialog	   

	+ Added 'Setup Auto/Manual Current loop tuning' dialog

	+ Added 'Last Faults' selection under 'Status' tab

	+ Added 'Last Faults' display Lamp

	+ Added warning to 'Save Offsets' for linear power board 

	+ Corrected bugs in 'commutat.cpp'

	+ Added commutation initialization method 'NONE' for induction drive 

RELEASE NOTES
1.35   21-Nov-07
    This release is designed for and tested to run with amplifier firmware version 3.29 and earlier.

        + Added model 9615-50 with external memory and new model 9715

        + Added new models to Model Info through ModelNumber.ini file

        + Added Encoder Fault setup in 'setup Digital input/output' dialog

        + Added new function: Display engineering values from backup files in Demo mode

        + Added second channel DAC output option in 'Analog input/output' dialog (CS 13)
 
        + Replaced Dither by SmartComm and removed Twang method in 'setup commutation' dialog.

        + Added Integral and Derivative Gains setup for Position Loop in 'setup tuning' dialog.

        + Added 'Position Following Error' trace in MM scope


RELEASE NOTES
1.35 S  02-Aug-07
    This release is designed for and tested to run with amplifier firmware version 3.29 and earlier.

	+ Redesigned Model Info dialog.

        + Added option to load a backup file in demo mode.

        + Disabled all options under Setup menu.


RELEASE NOTES
1.34   29-Oct-04 
    This release is designed for and tested to run with amplifier firmware version 3.09 and earlier.

	+ This release is the release of all the Beta 1.33 stuff.

	+ The two phase amplifiers not have two input control bars.

	+ Factory function accesss pasword changed.

	+ CS 11 was added for the Synqnet Interpolator card.


RELEASE NOTES
1.33   12-Feb-04 
    This release is designed for and tested to run with amplifier firmware version 3.08 and earlier.

	+ Added Hall type selection function to commutation set-up.

	+ Added COM 5-8 to the communications channel selection.

	+ Revised communications reset function.

	+ Added rev selection to power and preamp boards.

	+ Corrected several bugs.

	+ Added support for models 91xx and 93xx.


RELEASE NOTES
1.32   10-SEP-03 
    This release is designed for and tested to run with amplifier firmware version 3.04 and earlier.

	+ Added a Power Board rev indicator for use in model info default settings.

	+ Added an encoder test and several commands to support the test. This runs only with special DSP software.

	+ Added COM: ports 5-8.

	+ Addded the capability of using a base in the model.ini file.

	+ Added reading and use of "GIM" command.

	+ Added three custom queries to the control loop signal display dialog. 


RELEASE NOTES
1.32   10-SEP-03 
    This release is designed for and tested to run with amplifier firmware version 3.04 and earlier.

	+ Added the feature to specify the type of PWM input.
	
	+ Corrected Scope bug in query for Position Measured

	+ Corrected bug in the Tune Setup.
	
	+ Correct bug in SetupDIO.

	+ Changed mode control to be bit-detection.

	+ Model entry changed to take effect immediately.

	+ Indicator displays, now distroyed and recreated when re-opened.

	+ Added 91xx and all the associated changes.

	+ Allowed reduced control panel to open for two phase amp.


RELEASE NOTES
1.31   02-JUN-03 
    This release is designed for and tested to run with amplifier firmware version 3.02 and earlier.

	+ Corrected bug in the Tune Setup.

	+ Corrected bug in the Commutation Method selection.

	+ Encapsulated the I/O to Amp into class for ease of changing I/O.

	+ Encapsulated the scaling functions into global file for ease of maintenance and suppling to
          customers at future date.


RELEASE NOTES
1.30   05-MAY-03 
    This release is designed for and tested to run with amplifier firmware version 3.01 and earlier.

	+ Changed the SetupDigitalIO to use same general display for CS_10.  Add the capability to 
          disable inputs. Added command to change meaning of fault output to amp ready.

	+ Commutation method selectable between Sinusoidal and Trapezoidal in Fw 3.01 and above. 

	+ Download function had an 'IF' construct which allows the .dat files to change with Firmware.  
          Delete need for the 208.dat files.

	+ Deleted support for CS_88.
   
	+ Several new pre-defined traces options were added to the Scope function. With these traces
          come, more units selection for the custom seclection.

	+ Corrected problem with Setup Analog IO where the values would creep up or down with each 
          exit/entry.

	+ Amp Enable/Disable added to the setup Induction display.

	+ A Vector Table entry screen was added to the Induction setup display.

	+ Fixed the problem with the enable/disable button on the Motor Saftery setup screen .

	+ Several new amp commands were added to Repetoir; (VPD,FT, IDE, ODE, VTI, VTE). 
	
	+ SetupDigitalIO layout completely redesigned. Input signals can be disabled.  Fault out 
          function is now selectable.

	+ Units on trajectory generator corrected for CS_1.  

	+ Added ability to display the T command to the Status Control Signals display. Corrected
          some conversion equations for CS_1.


RELEASE NOTES
1.29   06-Feb-03 
    This release is designed for and tested to run with amplifier firmware version 3.00 and earlier.

    + Added button to Model Information Setup box which displays a dialog box for additional model 
      defaults.

    + Added Signal Gain setup (velocity and current) for model series 9612.

    + Added additional Test Voltage scale to be used with model series 9915.

    + Added commutation for Induction Drives (Rotary).

    + Added additional warning boxes for communication status.

    + Display Firmware part number in Model Info Dialog Box.

    + Oscilloscope Display easier to read.
 
    + Added Induction Drive setup box. 

    + Added additional Analog Output signal sources FW3.0 or greater.

    + Updated Analog I/O setup to include induction motors.


1.28   11-Nov-2002
    This release is designed for and tested to run with amplifier firmware version 2.09 and earlier.

    + Added Model Information setup box which displays Amp model number, and various amp parameters.

    + Added additional warning boxes throughout program to remind and direct user to utilize various
      features.

    + Complete overhaul of Tuning Parameter setup box.

    + Demo mode has been expanded. While list of basic amplifiers to choose from has been simplified.

    + All dialog screens have been modified for overall consistancy.

    + Complete overhaul of Digital IO setup box. 

    + Color indicator added to ControlPanel. This indicator monitors the state of amplifier
      (enabled/disabled/fault).

    + Engineering units have been added to Oscilloscope, trajectory setup and Analog Input setup boxes.

    + Function Generator step button made more intuitive.

    - Repaired round off error in Motor Parameter setup box.

    + Rearranged Commutation setup for more intuitive flow.
	

1.27   04-Mar-2002
    This release is designed for and tested to run with amplifier firmware version 2.6.

    + Changed commands PFQ and PFP to PGI and PGO respectively. These command names are more  
      intuitive to the application engineer and they follow the industry standard. PGI is Pulse
      follower Gear In, while PGO is Pulse follower Gear Out.

    + Added "Recovery Distance" to Commutation dialog. This supports the new twang mode feature
      that  attempts to recover a specified distance when a limit switch is triggered during 
      commutation initialization. CID is queried and modified by this edit box.

    + Added "Rotation Rate" to Commutation dialog. This supports twang mode initialization. It
      specifies the rate of rotation for the second move of twang. CIR is queried and modified
      by this edit box.

    - Dither has been temporarily disabled. Dither commutation initialization has been temporarily
      disabled. It will be re-engineered to provided more reliable commutation initialization and
      then will be re-enabled at a later date. It is not recommended that application engineers 
      use dither as of this release.

    - Fix memory leak created by command load indicator introduced in release 1.26. This memory
      leak was a one time (per application launch) leak of 24 bytes. The application would have
      to be launched thousands of times per windows power up session in order to create any 
      deleterious side effects. Determined to be a non-critical problem.

1.26   07-Feb-2002
    This release is designed for and tested to run with amplifier firmware version 2.04.

    - Calculation of CPL on Commutation dialog is now more accurate. Values were off by a few
      percent per thousand rpm. Calculation was invalid for linear motors. This has been corrected.

    - Commutation dialog would not update displays, if an editbox was modified and ENTER was
      pressed. Problem resolved. Introduced in 1.25.

    - Fix incorrect calculation of remainder CER on commutation dialog if GVS is anything but 8. 
      If GVS was changed from its default value of 8, the remainder was not calculated correctly.
      Introduced in 1.25 Beta.

    + Dialogs update at approximately, a 20hz rate. Previously dialogs updated at approximately 13Hz.

    + Added support for amplifiers that accept 32-bit numbers.
        - FRH has been removed from backup (*.dat) files.
        - LSW has been removed from backup (*.dat) files.

    + Commutation setup handles unusual motor encoder combinations with little or no commutation
      drift.
        + Added CCR (Commutation Count Rollover) command. 
        + Added CCC (Commutation Cycles in CCR) command.

    + Commutation dialog no longer displays a calculated remainder. With 32 bit amplifier, it is
      no longer needed.

    + Setup/Save to NVM now performs save in background task. Application is more robust.

    + Oscilloscope setup screen could not be traversed easily using the tab key. Tabbing and next
      edit boxed entered now makes sense.

    + Support added for Two Phase Analog Command digital amplifier. Includes auxiliary analog 
      input signal.

    + Support added for pulse follower amplifier.

    + Added an invert signal checkbox to the analog input signals on the Setup Analog input/output
      dialog.

    + Auxiliary encoder group added to encoders dialog to support electronic gearing in pulse 
      follower amp.

    + MotionMaestro backup files (*.bk) now contain a comment indicating which version of 
      MotionMaestro created the backup.

    + Added a "Command Load" indicator to the Communications status dialog. This allows user to
      determine if too many dialogs are opened. Load should not exceed 500 commands per second.

1.25   30-Nov-2001
    This release is designed for and tested to run with amplifier firmware version 1.13 and 2.1.

    + Enhancements to Commutation and Motor Setup dialogs concerning leaving a field. Any changes
      are now verified and used.  Prior version would only accept an ENTER key press.

    + Added Commutation Hall and Index Offset to Commutation Dialog. Added Z Check Manual. Reorganize
      Commutation dialog, more robust.

    + Added Encoders Dialog for Encoder divider setup.

    - Calculations based on servo frequency were changed to accommodate movement from 12Mhz to
      13Mhz crystals. This affects velocity calculations, filter calculations and motor parameter
      calculations. If your velocity is high by about 8 percent, then your amplifier has a 12 MHz
      crystal.

    - Oscilloscope setup more robust. Possibility for hanging up windows corrected.

    - The digital IO setup for the 9615 was incorrect for setting the amp temperature activity. 
      Should set a low activity level, was high. Corrected.

    - Control Signals Status display did not calculate values correctly, reported 0, if the dialog
      was opened first. Corrected, introduced in 1.25 Beta.


1.25   14-Nov-2001 Beta
    This release is designed for and tested to run with amplifier firmware version 1.13 and 2.1.

    + Added support for amplifiers that have position loop control. This includes changes to the 
      mode select dialog, the control panel, the tuning dialog and the motor safety dialog.

    + Control Panel now queries user with dialog box when the user clicks on the rate bar. This is
      a safety feature for new users to ensure that a device connected to the amplifier is not 
      accidentally commanded. The warning message can be turned off.

1.24   31-Oct-2001
    This release is designed for and tested to run with amplifier firmware version 2.0

    + Amplifier firmware version was changed to 2.0. Major number firmware changed on hardware to  
      accommodate changes that improve noise reduction and T current feedback.

    + Demo mode selection screen is now columnized and easier to read.

    - Fix Communications open. Application code was corrupted when mm.ini did not have an entry  
      for an amplifier model. This caused random hang-ups or windows lockups. Problem introduced
      in 1.21. Opening communication no longer corrupts application. If mm.ini file does not have
      a model description for a particular amp. Then the reduced command set is selected by default.

    - Fix Demo open. If opening communications in demo mode was cancelled, then opening communications
      normally would display the demo mode dialog. This has been corrected. Canceling demo mode no 
      longer has a side effect.


1.23   16-Oct-2001
    This release is designed for and tested to run with amplifier firmware version 1.11

    + Oscilloscope minimum sampling period can now be set to 2 milliseconds, was 4.

    + When a file was opened, the default file type was *.mpf. Default file type is now *.bk.

    + Bandwidth calculations of GII and GIP are now slightly more accurate. Value of sense resistor
      is used.

    - Twang and Dither was not available on SMA97xx models. Problem introduced in version 1.22. 
      SMA97xx now has twang and dither available.

    - The commutation remainder was always zero on linear Motors. Commutation remainder calculation
      now is done when linear is selected.

    - Enabling the amplifier after a reset, displayed the message "Could not enable amplifier" even
      though the amplifier could be enabled. This has been corrected.

    - Oscilloscope continuous step response generation timing was not very accurate. Accumulated errors
      would build up allowing the steps to wander. Oscilloscope now statistically samples thread activity
      and adjusts the step command in time, to insure that steps are remain near the selected duration. 

    - MotionMaestro hung up when a user selected CUSTOM as a trace data source on the oscilloscope setup
      screen and did not enter a query command. A message box is displayed indicating that there is not
      query command. The user cannot leave the  oscilloscope setup dialog until a command is entered in the 
      query field or until the user deselects CUSTOM.
      

1.22   31-Aug-2001
    This release is designed for and tested to run with amplifier firmware version 1.10

    + Error commands returned by the amplifier are now supplemented with a textual message in the terminal
      window. When an amplifier can not service a command over the serial interface, amps return an error.
      MotionMaestro then displays an error as follows:
         ERROR = 15. A descriptive text message is now included.
         ERROR = 15 ;Motor is enabled. 
      The messages for the text are defined in the file TxtMsg.enu, under the AMP ERROR MESSAGES section
      and may be modified by the user.

    + Removed "Current Loop" gain from the Tuning dialog. It is available on the "Setup Motor Parameters"
      dialog.

    + "Backup" on the Tools menu has been eliminated. The "Backup Card" tool has been renamed to "Backup 
      Amp". "Restore Backup" and "Backup Amp" are now directly on the Tools menu for convenience.

    + "Backup Amp" now reports the number of errors that have occurred during a backup. If an error
      occurred, during backup, the backup file cannot be restored without generating errors. The user 
      should search the erroneous backup file generated for ERROR text to resolve the problem. The *.dat
      file, which generates backup files, may have to be updated.

    + "Restore Backup" now generates a file named "DownLoad.log". If errors occur during the restoring
      of a *.bk file, then DownLoad.log is displayed in the editor. DownLoad.log will contain the lines
      that created the errors. The user may immediately modify DownLoad.log and then submit the corrected
      lines to the amplifier via the "File/Download Editor" utility. The original *.bk should be corrected.

    - Motor parameters were not available on resolver models 92xx. Corrected.   

1.21   20-Aug-2001
    This release is designed for and tested to run with amplifier firmware version 1.10

    + Backup files are now identified with a command set. Many amplifiers have the same command set.
      This change will reduce future maintenance. There are currently four unique command sets. The 
      data files that generate backup files for each command set are listed below.
 
          CDBU_3.dat  ->  9315
          CDBU_6.dat  ->  9615,9815,9215 (without external memory)
          CDBU_7.dat  ->  9715
          CDBU_8.dat  ->  9815 with external memory

    + The "Control Loop Signals" dialog now displays the adjusted current limit. This is the current
      limit after foldback and external current limiting is accounted for.

    + Amp model number is now stored in the amplifier. An example of the number stored is: 9815-0-0.
      This allows service personnel to determine the amplifier model from serial communications.

    - When "Fault Reset" button on control panel was selected, the amplifier would be commanded to -1 
      (amps or rpm) after the reset occurred. After reset the amplifier is now commanded to zero.

    - When user attempted to modify the initialization current on the Commutation setup dialog. The value
      reverted back to the amplifier value if the encoder position changed. This problem has been solved
      along with some other similar problems on the commutation dialog. 

    - On 9615 the digital I/O screen did not change the activity level of the I/O properly. This has been
      corrected. The 9615 I/O activity level can now be properly configured.

1.20   01-Aug-2001
    This release is designed for and tested to run with amplifier firmware version 1.9

    + Configuration files are now identified by a Command Set. Different amp models may have the same 
      command set. The following is a list of the cfg files that have changed in name. This eliminates
      maintenance of files that are the same.

          Exec1.cfg   ->  CS_0.cfg
          9315.cfg    ->  CS_3.cfg
          9615T.cfg   ->  CS_6.cfg
          97xx.cfg    ->  CS_7.cfg
          98xx.cfg    ->  CS_8.cfg

    - When an amplifiers parameters where backed up to a different directory than MotionMaestro's default
      application directory then the application tutor help for every dialog did not appear. MotionMaestro
      now looks for the tutor help file starting from the application directory and not starting from the
      current directory.

1.19.1 12-Jul-2001
    This release is designed for and tested to run with amplifier firmware version 1.8

    - Backup files would not restore motor parameters. Added MR ML and BV to all *.dat files.

    - Demo mode would hang the application when communications was opened. Demo mode now works.

1.19 11-Jul-2001
    This release is designed for and tested to run with amplifier firmware version 1.8

    + Changed buttons that enable and disable the amp to display Amp and not Windings. Similarly Reset
      was changed to display Fault Reset.

    - When a communications error occurred, restored communications would be slower. N_SEND_CHAR_DELAY
      in *.cfg file default is now 0. This insures that no delay is present between characters in 
      communications. Also corrected MotionMaestro which did not read this value correctly when
      MotionMaestro was launched, but used the value after first error occurred.

    - MotionMaestro occasionally locked up or slowed due to thread contention problems when accessing
      the amp. Do phase I of making MotionMaestro thread safe. The following dialogs are now thread safe.
        Setup Analog Input/Output
        Setup Digital Inputs
        Commutation
        Setup Motor Parameters
        Motor Safety Setup
        Trajectory Setup
        Control Loop Signals
        Control Panel

1.18 29-Jun-2001
    This release is designed for and tested to run with amplifier firmware version 1.7

    + Power On Reset status on the Warnings status dialog has been inverted to accommodate amplifier
      redesign.

    - Control panel scroll bar was unreliable and would hang up. MS Scroll Bar control buggy. Control
      Panel completely redesigned to avoid use of buggy scroll bar. Control panel no longer hangs
      with mouse activity.

1.17 21-Jun-2001
    This release is designed for and tested to run with amplifier firmware version 1.7

    + Commutation Phase Lead edit box on the commutation dialog is now interactive. When enter is
      pressed, the value is sent to the amp immediately. This is useful for determining what phase 
      lead results in the lowest current draw for a given velocity.

    - When encoder position is changing, the edit box values would be updated automatically to the
      previous values making it difficult to edit. Problem corrected, editbox with current focus is
      no longer updated.

    - Control panel scroll bar was disabled in 1.16. Scroll bar is now more robust and is safer.

1.16 18-Jun-2001
    This release is designed for and tested to run with amplifier firmware version 1.6

    + Added "Motor Parameters" dialog for setting amplifier current gains on 98xx model amplifiers.

    + Added "Faults" dialog for monitoring amplifier faults.
 
    + Added "Warning" dialog for monitoring amplifier warnings.

    + Added "Status" dialog for monitoring amplifier status.

    + Added "Digital Inputs" dialog for monitoring digital inputs to amplifier.

    + Added "Setup Analog Input/Output" dialog for configuring analog input and output signals.

    + Added Control Panel User can now control amplifier commands with easy to use slide bar dialog. 
      Values reported are in engineering units.

    + Added the current encoder position and encoder reverse to the Commutation setup dialog.

    + Many dialogs size and position are saved, when reopened they retain the last size and position.

    + Rename ALI to IDA, Input Digital Activity, sets the activity level of the digital inputs.

    + Command signal dead band can now be adjusted from the Tuning dialog. This allows the user to
      reduce amplifier buzz due to command signal fluctuation near zero command.

    + The user can now adjust the Signal Offset from the MotionMaestro Tuning Dialog. Removed Bias.

    - User Input for Tuning dialog was inconsistent. Edit fields now accept a carriage return to 
      change values. If amplifier mode is changed Tuning dialog updates to reflect mode.


1.15 16-Apr-2001
    This release is designed for and tested to run with amplifier firmware version 1.5

    + Added Filters dialog, and help, to support editing of control loop filters.

    + The Commutation dialog now displays "Encoder Counts per Commutation Cycle" (ECPCC) with a 
      fractional part. This is helpful in determining if Hall or Z pll is required due to 
      non-integer ECPCC values.

    + Main Menu now displays amplifier firmware version in title bar.

    - Commutation dialog did not update amp and caused communication errors. Release 1.14 was 
      shipped with cfg files that were not up to date. Change 1.14 *.cfg files to:
         CQ_INIT_CURR_LIMIT=CIL
         CQ_INIT_CURR_SLEW =CIS
         CQ_INIT_SCHEME    =CIM

    - Restoring parameters did not result in an amplifier that correctly commutated. CDBU*.dat
      now contains VM.

    - Trajectory Setup Dialog did not display info when displayed. Trajectory Setup Dialog is
      now complete and reliable. Added Send button for sending data to amplifier.

1.14 23-Feb-2001
    This release is designed for and tested to run with amplifier firmware version 1.2

    + Amplifier command set modified for better organization and easier to remember mnemonics.
      The current command set is set in stone. See manual dated 9-Feb-2001 or later for details.

    + Velocities on the Tuning setup screen are now entered in engineering units and not amplifier
      units. Base velocity can now be set to a non-zero value and the target velocity is an offset 
      from the base velocity. Maximum step time is now at 30 seconds, was 10. Tuning setup dialog 
      is now sensitive to current verses velocity mode and displays appropriate text. Values 
      entered are range checked.

    - Commutation Remainder calculation would work only with 8 pole rotary motors. Other pole 
      counts gave erroneous Remainder. Fixed to work with all pole counts.

    - Motor Safety dialog, when displayed, would not show amplifier data until data was updated.
      Motor Safety dialog now displays all data when opened.


1.13 24-Jan-2001

    + Added "Comm. Phase Lead" control to the Setup/Commutation dialog. Allows user to adjust phase
      lead based on velocity.

    + Added Low Speed ECB "Filter Time" and "Threshold" on MotorSafety dialog.  Supports digital 
      amplifiers low speed electronic circuit breaker motor protection feature.


1.12 29-Dec-2000

    + For 97xx amplifiers, enabled Twang mode on Setup\Commutation dialog. Added access to commutation
      check methods Hall PLL and Z Channel PLL.

    + Trajectory Setup dialog enabled on 97xx and 96xx amplifiers for setting acceleration limit, 
      deceleration limit and zero speed window.

    + New, more useful, Control Loop Signals dialog created for 97xx/96xx amplifiers. Engineering
      units are displayed.

    + The Motor Safety Setup dialog now displays engineering units.

    - Control Loop Signals dialog would sometimes cause motion Maestro to hang up. Display update
      is now done in separate thread solving the problem.
          
    - Linear velocity calculation in Linear motor mode was not scaled properly, mm/sec was too small.
      Corrected.

    - On the Setup\Commutation dialog, neither the initialization current nor the initialization 
      current slew rate could be sent to the amp. These values would revert to the amplifier values
      and not the working values when sent to the amplifier. This has been corrected.
       

1.11 25-Oct-2000

    + Communications can be closed by user without closing dialogs that require sustained communications
      with amp.

    + Application cannot be terminated until Tuning Step response is stopped. 

    + Tuning dialog displays RPM or mm/sec for velocity based on motor configuration, rotary or linear.

    - Changing Baud Rates from the Setup/Communications Dialog would cause the application to hang.
      Update of Main window display moved to foreground thread.

    - Real Time amps display on Tuning dialog was chaotic. Removed from display, aliasing caused
      unstable display. User must use control loop status display to real time amp values.

    - Commutation dialog would not calculate values correctly when toggling from Linear to Rotary,
      values would be lost or incorrect. Recalculation occurs and toggling retains values.

    - Restore Backup failed because Card Backup Template file used obsolete Q command. Backup Template
      file now uses EN 0 to disable pwm.


1.10 18-Aug-2000

    + Tuning Dialog average values update less often resulting in an easier to read average value.

    - When the serial cable was disconnected and an attempt was made to close a dialog that was 
      communicating with the amp, MotionMaestro would hang. Compiler Optimization was turned off. 
      This appears to solve the problem. Optimization was turned on in the last release. Also 
      improved loss of line detection and recovery which reduced other hang-up problems when 
      communications stalled in some way.
    
    - When Commutation dialog was entered after a virgin command and neither Poles or Resolution was
      changed (i.e. they are left the same), then the encoder scale was incorrect. Entering the 
      Commutation dialog now re-calculates all MotionMaestro derived amp parameters and places them
      into the working column. If working values are not changed then derived parameters will hold
      the correct values.
  

1.9 19-Jul-2000

    + Commutation dialog now has the ability to set the amps Commutation offset angle.
    
    + The tuning dialogs velocity display now shows RPM based on the motors settings.

    - Windows would hang when the oscilloscope was displayed, a step response was being performed in
      the tuning dialog and the oscilloscope was sampling below 15ms. Problem has been corrected. 
      The minimum sampling time is now 4ms.

    - An undefined error would occur when a second instance of Motion Maestro was launched. A dialog 
      box now displays: "An instance of this application is already running.", if this occurs.
      

1.8 05-Jul-2000

    + Added a new "Motor Safety Setup" dialog for digital amps. This allows users to set Digital amp 
      current and foldback limits.

    + Enabled "Setup Mode" Dialog in digital amp. This allows user to select between Current Mode and 
      Velocity Mode.

    + Added a "Setup Digital Input" dialog to the 97xx version of software. This dialog allows users 
      to set whether the amplifier inputs are active high or low. The 97xx version supports the digital
      amplifier and is referred to below as the TUNER.  

    + Save to NVM (Non Volatile Memory), displays appropriate  message if save is not completed.

    + Enhanced commutation screen that allows selection between dither and hall initializations schemes.
      Also includes initialization current limit and slew.

    - F1 help appeared not to work in Windows NT. Resulted from definition in help.ini using \windows\notepad.exe.
      Added Viewer_Alt which by default uses \winnt\notepad.exe. Also if the defined viewer is not found,
      an error message indicating so is displayed in a message box when F1 is pressed.

    - If an amplifier was not connected to the PC, Communications could not be opened. When entering Demo
      mode, a list of amplifiers available to simulate is presented. The user selects 1 thus bypassing 
      amplifier model query and allowing communications to commence.

1.7 04-May-2000

    + When communications is opened, the Amp model is queried for. There is no need to use TUNE.BAT or 
      FULL.BAT. The Model of the amp being communicated with is displayed at the top of the main window.
      The text displayed is configurable and is in mm.ini.

    - Selecting Help would cause an error. Added Generalized F1 Help, now help can be authored by anyone
      without recompiling application. Refer to the Help.ini file for how to do this. It is in the 
      application directory.
          NOTE: if after pressing F1 you receive a message indicating that the file was not found. Then
                copy and use notepad.exe from the WINFILES directory where you installed the application.
                Copy it to and overwrite \windows\notepad.exe.

    -  On 93xx amps File Menu items New and Open were disabled. They are now enabled for all model amps.
       These were inadvertently disabled in 1.6.

1.6 06-Apr-2000
    
    + Added Amp commands NP, MTC, FR, and FRH.

    + Added Tutorial screen to Oscilloscope setup, rearrange dialog.

    + Added Commutation setup screen for digital amp.

    + Added "Errors" counter on Communications status display. This will count up each time a query or 
      command to an amplifier fails.

    - Oscilloscope would leave window in background upon exiting. Fix memory leaks, Scope window is 
      destroyed properly.

    - Oscilloscope active trace sometimes was not drawn. Fix identified areas where this problem occurred. 

    - Oscilloscope when not in X-axis = Time mode had display problems. Fixed.

    - Oscilloscope recycle time feature did not work. Fixed.

    - File menu items were disabled in the TUNER. They are now enabled for working with parameter files.


1.5 21-Mar-2000

    + Added New Tuning dialog.

    + Tuning dialog includes real-time velocity and current average.

    + Tuning dialog now has a Set button and a Save button. Set will send the "Set Values" to the amp
      and make these values the recoverable values. Save will save the "Amp Values" into the amplifiers
      non-volatile memory.

    + Communications status records the total number of errors received from amp since application started.

    + Open Communications dialog remembers the last chosen values.

    - Occasionally terminal would hang. Added timeout for some terminal queries to amp, sidesteps comm.lib
      problems.

    - Communication errors would cause a long delay. Comm errors no longer reopen the port instead the port
      is tested and if a response is received the application continues.

    - When Backup or restore was attempted, application would hang. Hang-up problem fixed, progress bars
      now work accurately.


1.4  25-Jan-2000

    - Tutorhlp.txt file is up to date.

    + Messages sent to the Events.log file are now standardized and include a date stamp.

    + Communications/Close requires that all communications objects be closed by the user first.

    + Added range checking to many dialog edit fields.

    + Dialog Help has been completed and standardized.

    + Ratio of Numerator/Denominator is displayed on encoder parameter dialog.

    + Icons and Application ID text is now configurable and dynamically loaded. 

    + Started independent message and text files to support multiple languages.  They are TxtMsg.enu
      for application messages and TxtApp.enu for application text.

    + The Oscilloscopes Data gathering frequency has been improved.

    - The oscilloscope would hang if windows was busy. Now no data is gathered and no trace is drawn
      when windows assumes priority or when a communication error is active.

    + Scope Tick display is now more intuitive. Now options 1 thru 8 are available options.

    + Initialization files can be opened with read only attribute set.

    + Properties dialog box for application exe now displays appropriate version information.

    - When downloading files to a controller, include files could not be found if they did not exist in
      the current working directory. When an #include is encountered during download, the directory of
      the file being downloaded is used to find the include file when the include file path is not fully
      qualified.

    + Release notes status.
         The above release is the first official release of the this software package. The following applies
         unless revised above.

            The following modules are required to run this software. This information is current in CF.txt.
            It is here for reference but it is not up to date.



File                 Location Link Date   Version        Source
-------------------- -------- ----------- -------------- ---------------
MM.EXE               APPDIR   25-Jan-2000 1.4            OEM
DEFPROC.DLL          APPDIR   21-Sep-1999 N/A            Greene & Morehead
MCCON32.DLL          APPDIR   21-Sep-1999 N/A            Greene & morehead
                                                        
MM.INI               APPDIR   01-Jan-2000 1.4            OEM
TXTMSG.ENU           APPDIR   13-Dec-1999 1.4            OEM
TXTAPP.ENU           APPDIR   13-Dec-1999 1.4            OEM
                                                        
TutorHlp.txt         APPDIR   27-Dec-1999 1.4            OEM
mm.hlp               APPDIR               1.4            OEM
mm.cnt               APPDIR               1.4            OEM
                                                        
Exec1.cfg            APPDIR   25-Jan-2000 1.4            OEM
CardBu9x15.dat       APPDIR               1.4            OEM
                                                        
                                                        
The following is included for reference, but mostly can be ignored.
-------------------- -------- ----------- -----------    ---------------
ADVAPI32.DLL         WINSYS   18-Oct-1996 4.71.118.0     Microsoft
COMCTL32.DLL         WINSYS   16-Mar-1999 4.72.3612.1702     "
COMDLG32.DLL         WINSYS   10-Aug-1996 4.0.0.951          "
GDI32.DLL            WINSYS   29-Jun-1995 4.0.0.950          "
KERNEL32.DLL         WINSYS   18-Oct-1996 4.3.0.1212         "
MSVCRT20.DLL         WINSYS   10-Aug-1996 2.11.0.0           "
OLE32.DLL            WINSYS   12-Jun-1998 4.71.2612.0        "
OLEAUT32.DLL         WINSYS   08-Mar-1999 2.40.4275.1        "
OLEDLG.DLL           WINSYS   20-Aug-1997 5.0.1555.0         "
OLEPRO32.DLL         WINSYS   08-Mar-1998 5.0.4275.1         "
SHELL32.DLL          WINSYS   10-Aug-1996 4.0.0.1111         "
USER32.DLL           WINSYS   07-Jul-1995 4.0.0.950          "
WINMM.DLL            WINSYS   10-Aug-1996 4.0.0.950          "
WINSPOOL.DRV         WINSYS   10-Aug-1996 4.0.0.950          "


KEY

    WINSYS - c:\windows\system\
    APPDIR - application directory
    -      - indicates a deficiency in the software that was
             corrected. Symptom followed by indented corrective
             measures.
    +      - indicates an enhancement to the software.

TOOLS
    MS VC++ 6.0 SP 5.0
    Greenleaf COMM lib  5.20A  June 8, 1995
