Firmware "Plus"

"Plus" has the following additional features.

This new firmware can greatly increase performance in applications such as: Traverse-and-take-up, material transport, automatic reversal on soft limit, specialized coil winding and lapping of materials and high speed material inspection scanning. Here are the key features of Plus firmware:

New Fault Handler:
* Any motor protection must be reset via ZS or a specific command
* Any protection fault will either:
  End the running program or
  Call to a specific subroutine on interrupt

New Overtravel Limit Control:
* Positive and Negative Software Limits have been added
* Both Hardware and Software Limits are directional and active-high asserted.
   When reached, they can be set up to call a fault handler on interrupt as listed above

New Mode of Operation:
* Mode-Torque-Brake (MTB) allows smooth deceleration of loads
   in excess of 100:1 inertial load mismatch
* MTB is the default mode when any motor protection fault is triggered
* MTB draws no additional current from the power supply and generates no back-EMF

New CAM Mode Extensions:
* Relative CAM Mode
* Configurable Dwell at end/beginning of CAM table
* CAM Index out for position triggering

Output Option Added:
* Port C or G can be configured as automatic external brake-control

Input Option Added:
* Port G can be configured to call a separate interrupt handler on edge triggering

Option to Reverse Shaft Rotation for Given Commands