                     Release Notes for CME Version 8.0


================================================================================
  Features Added For V8.0
================================================================================
1) Added ability to enter frequencies < 1Hz in the Frequency Analysis screen

2) Added functionality to load encoder correction tables. This feature is only
   available on FPGA Plus products and requires a minimum firmware version 
   of 2.24.

3) Added motor characterization. With a minimum amount of motor data, CME will
   perform autotune (current, velocity, position) and autophase the motor.

4) The brake setup has been moved from the motor screen to the setup screen.

5) Added support for the AEV/APV

6) Fixed bug with analog encoders on stepper motors.

7) Fixed bug restoring drive config files (ccd) in virtual amp.

8) Fixed problem that caused CME to display message stating that the CopleyEcat.dll 
   file could not be found.

9) Now that CME uses JDK 9, 32-bit versions of Windows are no longer supported.

10) Added support for IES drives

11) Motor characterization can now be started from any step.

12) The feedback settings can now be viewed and changed from the motor screen in
    addition to the Basic Setup Screen.

13) Three new frequency analysis modes were added Open Loop Velocity Plant, Open
    Loop Velocity Controller, and Open Loop Velocity Plant Position.

14) A new command source (slave) has been added to current, velocity, and position 
    modes in the Basic Setup screen.  The slave command source is used on 
    multi-axis drives to force one axis to follow the command source of the master 
    axis.

================================================================================
  Features Added For V7.1
================================================================================
1) Added dual encoder functionality for STL drives.

2) Added pulse and direction to ST3 when in servo mode.

3) Changed all CVM beans so that axis selection is done when adding the step
   to the program.  This applies to multi-axis drives only.

4) Added new input configurations: Count rising/falling edges and save to 
   register, Encoder fault, Abort move if greater than N counts from destination.

5) Added new output configuration: Pulse on SYNC0 signal (EtherCAT only).

6) The firmware version is now saved to the ccx file.

7) Added Scope trace variables and Control Panel monitors for Commanded 
   Current U and V.

8) Added advanced setting for UV Current mode (Plus Drives only).

9) Added support for new XM2 drive.

10) Indexer programs can now be displayed in text form, showing all steps,
    sequences, parameter settings, and setup.

11) Added support for the BML.

11) Added check box to Manual Phase screen to ignore limit switches during
    phase initialization.  A firmware version of at least 2.18 for the Plus
    products is required.

12) On the Plus products, the temperature sensor can be read on Sanyo Denki
    motors (if available).  This feature requires a firmware version of at 
    least 2.12.

13) With EndDat encoders, the encoder settings can now be read from the encoder.
    The Feedback tab of the Motor/Feedback screen now contains a button that, 
    when pressed, will read the settings from the EnDat encoder and fill in the
    screen with those settings.  This feature requires a minimum fimware 
    version of 2.24 on the Plus products.

14) Passive load encoder is now enabled for Stepnet Plus products.

15) Added Frequency Analysis screen which performs a sine sweep and displays the
    frequency response. This feature is only available on Plus products, with a 
    minimum firmware version of 2.28.

16) Added functionality to Frequency Analysis screen to run sine sweeps on
    open loop velocity and open loop position.  This feature is only available on 
    Plus products, with a minimum firmware version of 2.36.

17) Plus products can now be configured to have a dual EnDat encoder setup. 

18) For Biss encoders, the resolution can be lowered for 32-bit encoders.  This
    feature is available on Plus Drives only and requires a minimum firmware 
    version of 2.40.

19) Added a copy special and paste special for the Indexer screen. These new 
    features allow steps within a sequence to be copied from one indexer program
    to another and are only accessed through a key sequence.
	copy special:  CTRL-SHIFT-C
        paste special: CTRL-SHIFT-V

20) For dual encoder systems (rotary only) on Plus products, Endat can now be 
    selected on the motor and SSi can be selected for the load.

21) A new operating mode, Analog Commands Profile Velocity, has been added for 
    Plus products.  This feature requires a firmware version of 2.40 or greater.

22) Added feature to open a Drive Config file (.ccd) as a virtual amp. To use
    this feature, click on the Virtual Amplifier node in the tree and select
    the "Open Drive Config file" option. Only version 2.0 drive config files are
    supported.  This drive config version is made with a firmware version of at 
    least 2.36 on Plus products.

23) Encoder status is now read through the Error Log screen.

24) Added support for the ME3, MP3, SE4, ME4, MP4, XEC, XEC-R, XPC, and XPC-R

25) Fixed bug that prevented firmware from being downloaded if it contained the
    extended version (i.e. 2.62.10).

26) Enabled cross coupling for SP4 family.  The feature only works with axis A & B
    andrequires a minimum firmware versionof 2.34.

27) Added support for the Argus (GPM, GEM, GEM-R, GPM-R).

28) Hiperface encoders are now supported



================================================================================
  Features Added For Version 7.0
================================================================================
1) Added support for
       XE2, XE2-R
       XP2, XP2-R
       BE2, BP2
       TE2, TP2
       BEL
       BE2-R
       SP4

2) Added support for EnDat Linear encoders.

3) Changed Auto Phase, Phase Count test to allow partial rotation for rotary motors.

4) On multi-axis drives: one axis can be copied to one or more axes. This feature
   is accessed using the Copy Axis menu item in the File menu.

5) On multi-axis drives, the save and restore can now be done with a single axis.
   This feature can be accessed from the File->Save As->Single Axis, and 
   File->Restore->Single Axis menu items

6) Added PID parameters to Position Loop screen.

7) Added functionality to save the Drive Configuration, which is all of the drive's
   Parameters and CVM file system into one XML: formatted file (.ccd).  This feature
   is only supported on Plus products with a firmware version of at least 1.60.

8) Changed the order of firmware/FPGA download, so that FPGA is loaded first.

9) Added functionality for motor wiring check and fault.

10) Added ability to set the abort jerk parameter (0x195).

11) Added support for absolute encoder calibration.

12) Added Raw Encoder Signals trace variable. This allows the A, B, X, and S lines
    of the primary and secondary encoders to be traced.  This feature requires a
    minimum firmware version of 2.10 and is only available on the Plus family of
    products (Feature Set E)


================================================================================
  Features Added For Version 6.1
================================================================================
1) Added support for the XPL and APM.

2) Added trace variables that measure Actual Current U and V.

3) Added support for AE2 hardware.

4) BiSS C encoders can now be chosen for the load encoder.

5) Added support for the SEM hardware.

6) Added homing support for Absolute encoders.

7) Added Filter Configuration screen for Plus amps.

8) Added input shaping to filter configuration screen.  This feature is only 
   available on the Plus products and requires a minimum firmware version of 1.34.

9) Added Gain Scheduling to Plus products. This feature requires a minimum firmware version of 1.36.

10) Added support for SEM and SPM

11) Added support for SE2 and SP2

12) For plus products, enable input now designated as programmable GP input

13) Added option to Ignore 'Battery Loss’ error for: Absolute A, Tamagawa Absolute A,
    Panasonic Absolute A, Panasonic Incremental A, and Sanyo Denki Absolute A encoders.



================================================================================
  Features Added For Version 6.0
================================================================================
1) Added indexer support for the CAN IO Module (CAN-IPM-01).

2) Added support for the ADP-R and R20-R drives.

3) Added support for the Xenus Plus drives (XEL, XML, and -R versions).

4) Added support for the Accelnet Plus Module (AEM).

4) Added support for the ACJ-R, ACM-R, ADP-R.

5) Added primary incremental to encoder list for XTL-S and ADP-S.

6) CME is now able to communicate via EtherCAT (currently the only drives that
   support this are the AEP and XEL). WinPcap, a third-party driver, is required
   for EtherCAT communications.  The driver can be downloaded from Copley's web
   site:
       http://www.copleycontrols.com/motion/zip/WinPcap.zip

7) Added functionality in the PWM Config screen to set PWM deadband in velocity
   mode. This feature is available on the 807 processor family of drives (ACP, 
   ACJ, etc.) starting with firmware version 5.58.

8) Added support for IXXAT V3 drivers.

9) Added the Save Restore Register bean to Indexer 2, which will save a one or
   all 32 registers to flash.

10) Detailed encoder error information can now be read in the Error Log screen
    when there is a feedback error.  This only applies to the serial encoders
    that report the detailed information.

11) PWM Position is now available on the 8367 processor family.  This can be set 
    up in the Digital Position Screen.

================================================================================
  Features Added Since V5.1
================================================================================
1) Support for the new 800-1615 amplifier has been added.

2) The Wait For Input bean can now be configured to jump to a specific step of
   a sequence.

3) The Wait For Parameter bean can now be configured to wait for a register.

4) Added support for the HD Absolute A Encoder.

5) Support for the 800-1653 amplifier has been added.

6) CME can now save ccx files as the V4.1 format.

7) Halls can now be used on high speed inputs for resolver capable amplifiers.

8) Added support for the Tamagawa Absolute encoder.

9) Added support for the BiSS encoder.

10) Added support for the Panasonic Absolute A encoder.

11) Added support for the Panasonic Incremental A encoder.

12) Support for the 800-1663 amplifier has been added.

13) Added two new variables to trace on the Scope (I2T Amplifier Accumulator
    and I2T Motor Accumulator). This feature requires a minimum firmware
    version of 1.58.

14) Added support for the new ACK-R/R23-R amplifiers.

15) The Error Log and Control Panel screens now display the MACRO network
    status.

16) When connected to an EtherCAT amplifier, the Network Configuration screen
    will now display the values of the address switches (S1 and S2).

17) Added support for the HD Absolute S encoder.


================================================================================
  Features Added Since V5.0
================================================================================
1) Support for the new ADP amplifier has been added.

2) The Oscilloscope now has cursors to measure and analyze the waveforms
   displayed. The cursors can be found on the measurement tab on the Oscilloscope.

3) A high speed digital input can now be configured with the high speed position 
   capture function.  This feature requires a firmware version of at least 5.12
   (0.40 for XSJ and XTL).

4) Adjustable position wrap has been added for the XSJ and XTL products.  This
   feature needs a firmware version of at least 0.42.

5) Estimated sinusoidal commutation can now be chosen in the Basic Setup screen.
   This feature requires a firmware version of at least 4.70 (0.58 for XSJ and 
   XTL).

6) Functionality was added for MACRO amplifiers only, to save the tuning and
   setup parameters in a format that can be read by a Delta Tau controller. A
   firmware version of at least 1.02 is required for this feature.

7) Support for the new XSJ-R amplifier has been added.

8) When exiting the Network Configuration screen, you now have the option of
   resetting the amplifier, so that the amplifier can recognize the new settings.

9) A new screen has been added to configure Gain Scheduling.  This feature is
   only available on the XTL, XSJ, ADP, AMP, and AEP amplifiers and requires a
   firmware version of at least 1.10.

10) An Indexer program can now be configured to run on startup without the need
    for a go command.

11) Support has been added for the STX amplifier.

12) Home to hard stop can now be chosen as a homing method for a Stepnet amplifier.

13) Added support for the new ACM amplifier with analog command capability.




================================================================================
    ccx (File Revision Matrix
================================================================================

ccx File Version               Written By CME Version
-------------------------------------------------------

     14                          8.0, 7.1, 7.0, 6.1.3, 6.0, 5.3, 5.2 5.1

     13                          5.0, 4.2

     11                          4.1, 4.0




================================================================================
    ccm (Motor) File Revision Matrix
================================================================================

ccm File Version               Written By CME Version
-------------------------------------------------------

     8                           8.0, 7.1, 7.0, 6.1.3, 6.0, 5.3, 5.2, 5.1, 4.2

     7                           4.1, 4.0





================================================================================
    ccp (CVM Program) File Revision Matrix
================================================================================

ccp File Version               Written By CME Version
-------------------------------------------------------

      3                          8.0, 7.1, 7.0, 6.1.3, 6.0, 5.3, 5.2

      2                          5.1, 5.0

      1                          4.2 and older




================================================================================
    cct (Cam Table) File Revision Matrix
================================================================================

cct File Version               Written By CME Version
-------------------------------------------------------

     1                           8.0, 7.1, 7.0, 6.1.3, 6.0 or older




================================================================================
    ccg (Gain Scheduling) File Revision Matrix
================================================================================

ccg File Version               Written By CME Version
-------------------------------------------------------

     1                           8.0, 7.1, 7.0, 6.1.3, 6.0 or older






================================================================================
    User documentation
================================================================================

User documentation is installed in the  "Doc" folder where CME is installed.  
A shortcut to this folder will be placed on your desktop during the installation.  
The documents are also available on our website:

www.copleycontrols.com.
