RMC200 Firmware Release Notes

This file contains the differences between RMC200 firmware versions.

RMC200 Firmware 1.22.0 (October 24, 2024)

New or Enhanced Features:

1. Added support for the SEND_CMD function for controllers with more than 32 axes.
   [Requires RMCTools 5.02.0 or newer]

RMC200 Firmware 1.21.0 (August 23, 2024)

New or Enhanced Features:

1. Added a new Loop Time Adjust register for use in synchronizing the control loop to an external time source.
   [Requires RMCTools 5.01.0 or newer. Also requires the following Base firmware: R200-B5L 1.03 or newer, R200-B7L 1.02 or newer, R200-B5/B7/B11/B15 1.07 or newer]
2. Added a new Control Output Timing axis parameter to allow synchronous timing on Control Output signals.
   [Requires RMCTools 5.01.0 or newer. Also requires the following I/O module firmware: R200-CA4 1.05 or newer, R200-CV8 1.07 or newer, R200-U14 1.08 or newer]

RMC200 Firmware 1.20.1 (July 25, 2024)

Bugs Fixed:

1. Fixed some problems related to evaluating resources required by certain EtherCAT-based axes.
2. Fixed a problem in which changes to EtherCAT advanced logging settings could get lost.

RMC200 Firmware 1.20.0 (July 12, 2024)

New or Enhanced Features:

1. Added support for the new EtherCAT MainDevice (R200-ECAT) communication module.
   [Requires RMCTools 5.00.0 or newer]

RMC200 Firmware 1.19.2 (May 16, 2024)

New or Enhanced Features:

1. Improved the behavior of the Index (Z) Input in the Encoder Status register. Previously, it was set to 1 only if the Z input was high exactly at the motion loop tick. Now, it will be 1 if the Z input was high at any time during the last motion loop. This allows it to be used to reliably detect a short Z pulse. This affects the Z input on A/B/Z inputs on the Q4, U14, and D24 modules. The D24 requires firmware 1.06A or newer to support this new behavior.

Bugs Fixed:

1. Fixed a problem in which, for the Curve Start Advanced command with a Master Scale parameter value other than 1.0, the calculated Target Velocity, Acceleration, and Jerk would be incorrect.

RMC200 Firmware 1.19.1 (April 9, 2024)

Bugs Fixed:

1. Fixed a problem introduced in 1.19.0 in which it was possible for the EtherNet/IP messaging server to become locked up in certain error conditions.

RMC200 Firmware 1.19.0 (March 25, 2024)

New or Enhanced Features:

1. Increased the maximum size of EtherNet/IP messaging connections from 1416 to 17,476 bytes. This larger size greatly increases the performance of large data transfers such as plot uploads.
   [Supported by RMCTools 4.25.0 or newer]
2. Updated the plot upload and trend communication services to allow more than 255 data sets to be transferred in a single transaction, which improves the plot transfer speed when using a large connection size to read a plot with relatively few data items.
   [Requires RMCTools 4.25.0 or newer]
3. Improved plot trend upload by updating the logic that selects which samples to upload when there are more sample sets ready to be uploaded than will fit in the current transfer. The new logic reduces the occurrence of gaps in trend data due to minor upload interruptions.
4. Increased the maximum size for DMCP transfers to 4096 registers over TCP and to 360 registers over UDP. This is an increase from 1024 and 256 registers respectively.

RMC200 Firmware 1.18.2 (April 25, 2023)

New or Enhanced Features:

1. Allow writes to the Real Time UTC, Seconds, Real Time Local, Seconds, and Real Time, Nanoseconds registers. These registers were previously read only.
   [Assigning to these registers in user programs requires RMCTools 4.23.4 or newer.]

RMC200 Firmware 1.18.1 (February 16, 2023)

New or Enhanced Features:

1. Added event log entries for three rare hardware conditions that were reported in the CPU Display Screen, but not in the event log.
   [Requires RMCTools 4.23.2 or newer]
2. Updated the graphic icon (favicon) associated with the embedded website to reflect the new Delta Motion logo.

RMC200 Firmware 1.18.0 (December 29, 2022)

New or Enhanced Features:

1. Updated the embedded web pages to include the new Delta Motion logo.
2. Updated the CPU display's startup sequence to include the new Delta Motion logo and removed scrolling of startup information.

RMC200 Firmware 1.17.1 (December 7, 2022)

New or Enhanced Features:

1. Modified an internal diagnostic service used by Delta production.

RMC200 Firmware 1.17.0 (September 22, 2022)

New or Enhanced Features:

1. Increased the maximum number of user tasks for the RMC200 Standard (CPU40) from 32 to 64. The RMC200 Lite (CPU20L) is still limited to 32 tasks.
   [Requires RMCTools 4.22.0 or newer]
2. Increased the size of the Curve Store for the RMC200 Standard (CPU40) from 16MB to 64MB. The RMC200 Lite (CPU20L) is still limited to 16MB. The non-volatile curve storage was not increased.

Bugs Fixed:

1. Fixed a problem in which the Enable/Disable Axis (97), when issued with the Disable command parameter, incorrectly triggered a Disable Axis Halt instead of a Direct Output Halt, as intended. The difference in behavior was that axes in the same halt or sync group would also be disabled instead of just receiving a Direct Output Halt.
2. Fixed a problem with the Curve Start Advanced (88) and Curve Start Advanced (Prs/Frc) (89) commands, in which the TGDone status bit did not turn on when the master reaches the end when Absolute Master alignment was selected.
3. Improved logging when Direct Output halts occur to an axis due to disabling the axis or disabling the controller.
   [Requires RMCTools 4.22.0 or newer]
4. Fixed a minor problem where unused outputs on the CV8, CA4, and U14 were not held at precisely 0V, since calibration numbers were not applied. This problem did not affect outputs that were assigned to axes.

RMC200 Firmware 1.16.1 (March 25, 2022)

Bugs Fixed:

1. Improved the accuracy of the sample period generated by the Sine Start (72) and Sine Start (Prs/Frc) (76) command. In particular, this improves the phase alignment of sine waves of different frequencies.

RMC200 Firmware 1.16.0 (October 19, 2021)

New or Enhanced Features:

1. Added support for the R200-LC8 I/O module, which provides 8 load cell inputs. The LC8 module supports sensitivities up to 5 mV/V with full Wheatstone bridge configurations. Quarter and half bridges are supported with a customer-supplied bridge completion circuit.
   [Requires RMCTools 4.19.0 or newer]

Bugs Fixed:

1. Fixed a problem in which controller names were incorrectly limited to 20 characters. They are now limited to 32 characters to match RMCTools and RMC75/150 controllers.

RMC200 Firmware 1.15.1 (October 6, 2021)

Bugs Fixed:

1. Fixed a problem in which it was possible for the controller to fail to start up when very large curves had been saved to the flash.

RMC200 Firmware 1.15.0 (February 23, 2021)

New or Enhanced Features:

1. Added a set of System Time registers with various units to make it easier to measure elapsed time. Units for new time registers are: milliseconds, microseconds, nanoseconds, and control loops. There are existing time registers with units of seconds and 16th of a millisecond.
   [Requires RMCTools 4.18.0 or newer]
2. Added a set of Real Time registers for capturing the current real time. The registers are Real Time UTC, seconds; Real Time Local, seconds; and Real Time, nanoseconds. The nanoseconds register provides the fraction of a second for both the Real Time UTC and Real Time Local registers.
   [Requires RMCTools 4.18.0 or newer]
3. Changed the timestamps captured by Event Timers from using real time to using the system time. This was done to avoid having changes to the real time affect differences between captured times.

RMC200 Firmware 1.14.1 (February 4, 2021)

Bugs Fixed:

1. Fixed a problem in which certain I/O modules were not recognized on startup in very rare circumstances.
2. Fixed a problem in which the Feature Key was not recognized on startup in very rare circumstances.
3. Fixed a problem affecting Open Loop and Direct Output commands when issued to axes that have a non-zero Output Bias parameter. If these commands are issued while the Control Output is saturated at the Output Limit, then it was possible for the open loop ramp to be somewhat delayed.

RMC200 Firmware 1.14.0 (December 1, 2020)

New or Enhanced Features:

1. Added support for the new RMC200 Lite series of controllers, including the CPU20L and the B5L and B7L base modules. The CPU20L module supports up to 18 control axes, and up to 48 total axes including output-only, outer-loop and virtual axes and reference inputs.
   [Requires RMCTools 4.17.0 or newer]
2. Updated the CPU40 to support up to 50 control axes, and up to 128 total axes including output-only, outer-loop and virtual axes and reference inputs. The CPU40 was previously limited to 32 axes of any type.
   [Requires RMCTools 4.17.0 or newer]
3. Updated the CPU40 to support up to 64 plot templates (up from 32) with each plot having up to 128 data items (up from 32). The total number of data items allowed across all plot templates is limited to 1024. The CPU20L is limited to 48 plot templates with up to 48 data items each, up to a total data item limit of 512 across all plots.
   [Requires RMCTools 4.17.0 or newer]
4. Made several improvements to monitoring control loop utilization:
   [Requires RMCTools 4.17.0 or newer]
   • Added a set of Loop Time Used registers (in microseconds) that can be plotted and used to evaluate control loop utilization more easily.
   • Improved how the Event Log reports when the control loop time is exceeded. Small momentary overruns are logged as a warning that can be filtered. Larger overruns are logged as an error.
5. Added support for storing the new High Control Loop Utilization setting. See RMCTools documentation for more information on this setting.
   [Requires RMCTools 4.17.0 or newer]
6. Added support for Valve Linearization using a curve.
   [Requires RMCTools 4.17.0 or newer]
7. Increased the number of Sync Groups from 11 to 32 and Halt Groups from 16 to 32.
8. Increased the number of rows supported in each user-configurable Address Map from 32 to 128. This includes the DF1, FINS, Modbus, and PROFINET address maps.
   [Requires RMCTools 4.17.0 or newer]
9. Increased the size of the command area in the fixed portion of the DF1 and PROFINET Address Maps to support up to 128 axes on the CPU40 and 48 axes on the CPU20L. This is up from 32 axes.
10. Increased the size of the command area in the fixed portion of the Modbus and FINS Address Maps to support up to 102 axes on the CPU40 and 48 axes on the CPU20L. This is up from 32 axes.
11. Several performance optimizations were made in order to support more axes and plots.
12. Minor changes to comply with EtherNet/IP conformance test version CT17.
13. Minor changes to comply with PROFINET test specification V2.41.0.
14. Updated the content of Link Layer Discovery Protocol (LLDP) frames generated by the controller when in EtherNet/IP mode. Some new information is included as per EtherNet/IP recommendations, and the frames are now sent using the device MAC address instead of the port MAC address.

Bugs Fixed:

1. Patched several internal issues in the Ethernet TCP/IP communication stack.

RMC200 Firmware 1.13.1 (September 18, 2020)

Bugs Fixed:

1. Fixed a problem in which an Open Loop Halt or Direct Output Halt did not halt all axes in the same Sync Group. Notice that Closed Loop Halts and use of the Halt Group axis parameter did and still do work as expected.
2. Fixed a problem in the Event Log in which "Axis Parameter Changed" entries showed the incorrect axis number and parameter for axes 16 and above. RMCTools must also be updated to 4.16.5 or newer to completely fix this problem.

RMC200 Firmware 1.13.0 (June 26, 2020)

New or Enhanced Features:

1. When a task is started or stopped by a program trigger, the program trigger number is now included in the Event Log.
   [Requires RMCTools 4.16.0 or newer]
2. Improved performance of applying axis parameters written to the controller over Ethernet or USB. In particular, this reduces the time to download axis parameters from RMCTools.

RMC200 Firmware 1.12.0 (March 11, 2020)

New or Enhanced Features:

1. Added support for larger plot captures. The previous limit was 12.5 million data points (divided among all samples and data items from all plots). This has been increased to 50.3 million data points.
   [Requires RMCTools 4.15.0 or newer]

RMC200 Firmware 1.11.3 (February 24, 2020)

Bugs Fixed:

1. Fixed a problem in which SSI configuration parameters on an S8 module could revert to defaults in certain rare cases when the module was subjected to an electrostatic discharge, and the parameters would not be restored until the module or controller was reset.

RMC200 Firmware 1.11.2 (November 26, 2019)

Bugs Fixed:

1. The control outputs on the CA4, CV8, and U14 modules are no longer forced to 0V/0mA when the axis is disabled. Instead, the outputs will hold the voltage or current corresponding to 0% control output, which may or may not be zero volts or milliamps.

RMC200 Firmware 1.11.1 (September 10, 2019)

New or Enhanced Features:

1. Increased the length of the DF1 register files F21-F35 to extend to the end of the Variable Table, and register files F17-F19 to extend to the end of the Variable Table. Notice that the preferred DF1 register files to use for accessing the Variable Table and Indirect Data Map are F20 and F16 respectively.

Bugs Fixed:

1. Fixed the event logging for DF1 PLC-5 Word Range Read and Write functions to include the file type, if known, and offset.

RMC200 Firmware 1.11.0 (August 7, 2019)

New or Enhanced Features:

1. Added support for the U14 universal I/O module. This module includes the following:
   • 4 analog inputs
   • 2 analog outputs
   • 4 configurable discrete I/O
   • 2 high-speed input channels (SSI/MDT, quadrature, or SSI monitor). Each high-speed channel includes a Reg/Z input that can be used as Registration, Home, Z, or general purpose input. The second high-speed channel (channel 1) can also be configured as an SSI Echo output, in which it behaves like an SSI device and will provide the SSI input data from channel 0 when requested from another controller.
   [Requires RMCTools 4.12.0 or newer]
2. Changed the default Feedback Type for SSI/MDT inputs from MDT to SSI.
3. Changed the default value for the SSI Termination parameter on SSI Monitor inputs to Disabled.
4. Added a new value (56) for the Controller Image Command State register to indicate that no controller image file was found on the SD card.
5. The input LEDs for axes in simulate mode will now be shown in amber, as was already the case for output LEDs.

RMC200 Firmware 1.10.0 (June 3, 2019)

New or Enhanced Features:

1. Added support for using the SD card on the RMC200 CPU40 module, including the following:
   1. The "SD" LED now indicates the status of the SD card in the slot. See documentation for details.
   2. RMCTools can now browse the SD card contents and add files to and extract files from the SD card.
      [Requires RMCTools 4.11.0 or newer]
   3. RMCTools can now instruct the firmware to save its controller image to the SD card or restore its controller image from the SD card.
      [Requires RMCTools 4.11.0 or newer]
   4. Added new Save Controller Image (120) and Restore Controller Image (121) commands that will save and restore the controller image to/from the SD card.
   5. Added a new Display Screen menu for the SD card with "Save Image" and "Restore Image" options that will also save and restore the controller image to/from the SD card. RMCTools can be used disable one or both of these menu items.
      [Requires RMCTools 4.11.0 or newer to disable these features]
   6. Added a new Controller Image Command State register to report the status of a controller image save to or restore from the SD card.

Bugs Fixed:

1. Fixed a problem in which the initial axis position for quadrature inputs differed from one startup to the next. Notice that quadrature inputs are incremental and need homing anyway before they can be used.

RMC200 Firmware 1.09.3 (April 4, 2019)

Bugs Fixed:

1. Fixed a problem in which the Open Loop Absolute (11) and Open Loop Relative (12) commands could not be used in Unidirectional Mode.
2. Fixed a problem with Automatic Unidirectional Mode in which the control direction could be determined incorrectly in certain situations, including at the end of some Quick Moves.
3. Fixed a problem with the Dynamic Plot Upload Area in which uploading multiple continuously-capturing plots could not be consistently synchronized.
4. Fixed a problem in which a production test verifying the SD card interface was broken.

RMC200 Firmware 1.09.2 (March 7, 2019)

New or Enhanced Features:

1. Added support for an Image Upload/Download Area (register file %MD23), used to back up, restore, and copy complete controller images.

RMC200 Firmware 1.08.2 (March 1, 2019)

New or Enhanced Features:

1. The CPU display screen saver can now be turned off by holding the Menu key down for 3 seconds. Hold down the Menu key again to turn the screen saver back on. The screen saver will always be turned on when the controller is restarted. The screen saver should not be left turned off for extended times because the image will eventually burn in to the display.

Bugs Fixed:

1. Changed the limits for the Output Null parameter to accept -100% to +100% and the Output Deadband parameter to accept 0% to 100% as documented.
2. Fixed a problem in which invalid Axis Definitions could cause the controller to reset continuously on startup. The controller can be recovered by pressing the Up and Down arrow keys simultaneously on startup to enter recovery mode.
3. Fixed a problem with Negative and Bidirectional Pressure/Force Limit modes in which, when comparing against the negative limit, the Pressure/Force Feed Forward and Pressure/Force Rate Feed Forward parameters were applied backwards.

RMC200 Firmware 1.08.1 (February 6, 2019)

Bugs Fixed:

1. Fixed a problem in which the Arm Event Timer (105) and Disarm Event Timer (106) commands did not correctly reject a Module Slot parameter value of 15 and could instead restart the controller.

RMC200 Firmware 1.08.0 (January 29, 2019)

New or Enhanced Features:

1. Added support for user-editable Address Maps for DF1, Modbus, FINS and PROFINET data records.
   [Requires RMCTools 4.10.0 or newer]
2. Added support for PROFINET to the RMC200 platform. This includes support for PROFINET RT, Read/Write Data Records, Media Redundancy Protocol (MRP) as a client ring node, and Topology. Also includes the LLDP and SNMP protocols for full PROFINET topology support.
   [Requires RMCTools 4.10.0 or newer]
3. Added a new setting called Ethernet Protocol Mode, which selects whether the RMC200 is optimized for EtherNet/IP or PROFINET. When in EtherNet/IP mode, all protocols are supported except PROFINET I/O and MRP. When in PROFINET mode, all protocols are supported except EtherNet/IP I/O and DLR.
   [Requires RMCTools 4.10.0 or newer]
4. Changed the filter used for some nuisance Ethernet protocol warnings from "All Application Errors" to "All Application Transactions", which is not enabled by default. This will ensure that these warnings still appear when diagnosing a communication problem, but not otherwise.
5. Added additional Event Log entries when the "All Application Transactions" logging option is enabled when reading and writing RMC registers using DF1, FINS, Modbus/TCP, and PROFINET in order to show which RMC registers were accessed, if any. Also added warnings in the Event Log if the Modbus/TCP or FINS 16-bit accesses are not aligned to 32-bit RMC register addresses.
   [Requires RMCTools 4.10.0 or newer]
6. New diagnostic information now appears in the Event Log if an internal system task faults unexpectedly.
   [Requires RMCTools 4.10.0 or newer]
7. Support for Beta RMC200 CPU40 modules (R200-CPU40 1.2) has been removed. This and future firmware versions cannot be loaded into R200-CPU40 modules 1.2 or older.
8. The Device Level Ring (DLR) "Unexpected Loop" state now stays set for a minimum of 3 seconds in order to make it easier to observe.

Bugs Fixed:

1. Fixed a problem in which the RMC would reject the first connection request from the CSP (DF1 over Ethernet) protocol. Retrying would succeed.
2. Fixed a problem in which a unicast EtherNet/IP I/O connection could not be opened across subnets.

RMC200 Firmware 1.07.7 (October 30, 2018)

Bugs Fixed:

1. Fixed a problem in which the SSI Data Bits axis parameter values 31 and 32 could be incorrectly rejected when downloaded from RMCTools.
2. Fixed a problem in which many Limit Input axis parameter register (%MDx.34) values could get corrupted when downloaded from RMCTools. Notice that this did not occur when left at the default values (unused).

RMC200 Firmware 1.07.6 (August 30, 2018)

New or Enhanced Features:

1. Added support for R200-CPU40 modules revision 1.6A and newer.
2. Improved the usability of the Module Info pages on the CPU display.

Bugs Fixed:

1. Fixed a problem in which the Deferred Transmissions Ethernet counter could wrap over prematurely.
2. Removed a confusing warning related to Retained variables that could be displayed on startup in the Event Log in certain situations.

RMC200 Firmware 1.07.5 (July 3, 2018)

Bugs Fixed:

1. Fixed a problem in which the RMC200 could incorrectly block Ethernet broadcast and multicast packets being sent through the switch.
2. Improved the auto-crossover (MDI/MDIX) algorithm used on Ethernet ports that have auto-negotiation disabled. This fixes rare cases in which the link never comes up.
3. Updated the embedded EDS file to version 1.2, which fixes an incompatibility with Schneider Electric's Unity Pro configuration software.

RMC200 Firmware 1.07.4 (May 24, 2018)

Bugs Fixed:

1. Fixed a problem in which the Control Output could be incorrectly limited in closed loop when using Unidirectional Mode in the negative direction. In the most extreme case, where the Output Type was set to "0-10V Uni", the Control Output was stuck at zero (0%).

RMC200 Firmware 1.07.3 (May 16, 2018)

New or Enhanced Features:

1. Reduced the default number of axes created on the RMC200 to four. The total number of axes that can be created by the user is still determined by the Feature Key.

RMC200 Firmware 1.07.2 (May 15, 2018)

New or Enhanced Features:

1. Added support for R200-CPU40 modules revision 1.5A and newer.
2. Analog I/O modules (A8, CA4, CV8) that have not been calibrated are now reported in the Event Log on startup.
   [Requires RMCTools 4.08.2 or newer]
3. Unsupported Beta modules (R200-B7 1.0 and R200-PS4D 1.1-1.2) are now reported in the Event Log and as a CPU fault on startup.
4. Both L/A LEDs will now be solid red if the Ethernet subsystem has an internal fault.
5. Added support for updating firmware and Module ID information on future communication modules.

RMC200 Firmware 1.07.1 (March 16, 2018)

Bugs Fixed:

1. Fixed a problem introduced in 1.06.0 in which the quadrature input on the S8 I/O module did not return any counts.

RMC200 Firmware 1.07.0 (February 22, 2018)

New or Enhanced Features:

1. Added support for the R200-CV8 I/O module, which provides 8 voltage outputs intended for controlling an actuator and 8 discrete I/O that can be individually configured as general-purpose inputs or outputs, Fault inputs, or Enable outputs.
   [Requires RMCTools 4.08.0 or newer]

RMC200 Firmware 1.06.3 (December 19, 2017)

Bugs Fixed:

1. Fixed a problem in which the Actual Position for rotary axes that use an Input Filter could drift for certain combinations of Position Unwind and Position Offset parameters.
2. The Low Pass ABG input filter is now limited to a maximum cut-off frequency of 10% of the Loop Time Frequency (for example, 100 Hz for a 1 ms loop time). This filter became unstable at some frequencies above this new limit.
3. The Low Pass ABGD input filter is now limited to a maximum cut-off frequency of 7.5% of the Loop Time Frequency (for example, 75 Hz for a 1 ms loop time). This filter became unstable at some frequencies above this new limit.

RMC200 Firmware 1.06.2 (November 3, 2017)

Bugs Fixed:

1. Fixed a problem in which issuing a new Move command before a previous move was completed could cause a low deceleration to be used in certain cases.

RMC200 Firmware 1.06.1 (September 19, 2017)

New or Enhanced Features:

1. Improved the error reporting when SSI Monitor mode was selected on an R200-S8 module with firmware that was too old to support the feature.

Bug Fixes:

1. Fixed the allowed range for the Output Bias parameter. It was incorrectly limited to ±20%, but should have allowed up to ±100%.

RMC200 Firmware 1.06.0 (August 24, 2017)

New or Enhanced Features:

1. Added full support for EtherNet/IP to the RMC200 platform. This includes support for multiple I/O connections, IP Address Collision Detection (ACD), Device Level Ring (DLR) protocol as a non-supervisor ring node, and CIP Energy objects for tracking energy consumption.
   [Requires RMCTools 4.06.0 or newer]
2. Added support for Event Timers on the R200-D24 module. This feature allows capturing precise times for certain hardware events, including rising and falling edges of certain inputs.
   [Requires RMCTools 4.06.0 or newer, and R200-D24 firmware 1.04 or newer]
3. Added a new Ethernet diagnostic showing the amount of time that each Ethernet link has been up.
   [Requires RMCTools 4.06.0 or newer]
4. Added support for using channels 6 and 7 of the R200-S8 module as an SSI Monitor input.
   [Requires RMCTools 4.06.0 or newer, and R200-S8 firmware 1.02 or newer]
5. Added direct access to Variable Table current values through the Allen-Bradley DF1 address map, the Modbus address map, and the Omron FINS address map.
6. Relocated the Indirect Data region from L or F files 8-11 to L or F files 16-19 in the Allen-Bradley DF1 address map since some clients cannot access file L8.

RMC200 Firmware 1.05.1 (August 7, 2017)

Bug Fixes:

1. Fixed a problem in which the files in the Allen-Bradley DF1 address map could not be addressed as Long (L) files.

RMC200 Firmware 1.05.0 (July 20, 2017)

New or Enhanced Features:

1. Added three new integrator modes: Always Zero, TGDone, and Decel.
   [Requires RMCTools 4.05.0 or newer]
2. Improved the accuracy of the target position generated by the Gear Velocity (31) command, especially at low velocities.

Bug Fixes:

1. Fixed a problem with the Track Position (57) command in which re-issuing the command could disrupt the command's deadband behavior.

RMC200 Firmware 1.04.0 (June 16, 2017)

New or Enhanced Features:

1. Added support for the R200-Q4 I/O module (4 quadrature inputs).
   [Requires RMCTools 4.04.0 or newer]
2. Added support for one or two quadrature inputs on the D24 I/O module.
   [Requires RMCTools 4.04.0 or newer]
3. Added support for one quadrature input on the S8 I/O module.
   [Requires RMCTools 4.04.0 or newer]
4. Added a new internal diagnostic service for use by Delta production.

RMC200 Firmware 1.03.1 (June 5, 2017)

New or Enhanced Features:

1. Added support for R200-CPU40 modules revision 1.3C and newer.
2. Added support for the R200-B5 base module with 5 slots (3 I/O module slots).
   [Requires RMCTools 4.07.3 or newer]

RMC200 Firmware 1.03.0 (March 31, 2017)

New or Enhanced Features:

1. Added support for the R200-B15 base module with 15 slots (13 I/O module slots).
   [Requires RMCTools 4.03.0 or newer]
2. Added support for the R200-PS6D power supply.
   [Requires RMCTools 4.03.0 or newer]
3. Added support for accessing registers through the Mitsubishi Procedure Exist protocol.
4. Added support for viewing backplane communication statistics.
   [Requires RMCTools 4.03.0 or newer]
5. Added several internal diagnostic services for use by Delta production.

Bug Fixes:

1. Fixed a problem where an empty "Commands received" entry was recorded in the event log when commands were received to filtered axes. If all commands were filtered, the entry should not have been logged at all.

RMC200 Firmware 1.02.0 (February 7, 2017)

New or Enhanced Features:

1. Added a new Control Behavior option to the Hold Current Position (5) command. The new Maintain (2) option allows maintaining the current Control Output when transitioning from Open Loop or Pressure/Force control without being affected by the Actual Velocity at the time of the transition.
   [Requires RMCTools 4.02.0 or newer]

RMC200 Firmware 1.01.0 (January 26, 2017)

New or Enhanced Features:

1. Added support for initializing one shots used by Program Triggers when entering RUN mode so that conditions do not trigger immediately.
   [Requires RMCTools 4.01.0 or newer]
2. Added register and attribute reporting version of Power Supply loader firmware.
3. Added several internal diagnostic services for use by Delta production.

Bug Fixes:

1. Fixed a problem where the Target Position could momentarily step outside of the unwind region after a Set Actual Position or Offset Position command.

RMC200 Firmware 1.00.1 (January 5, 2017)

Bug Fixes:

1. Fixed a problem where the starting Program and Step could be logged incorrectly when the program is started by a Program Trigger. Notice that the correct program did actually start, but was just logged incorrectly.
2. Fixed a problem in which the pre-defined Allen-Bradley (DF1) register file F8 was incorrectly limited to 256 registers. It has been extended to 1024 registers to allow accessing the entire Indirect Data Map through this single register file.

RMC200 Firmware 1.00.0 (November 30, 2016)

Initial release for the R200-CPU40 controller.