Standard PAC File Change Log

3.3/3.2 130521 PFlex400S*_Prod_Bxx
	Upgraded all Bxx PAC files to B08.  On the 2M linear rail, new
	Kv (10333) of 90 caused 180-200hz oscillation.  Set Torque output
	filter (10329,10330) to 190/0.4.

3.3/3.2	130505 PFlex400S*_Prod_Bxx
	Upgraded all Bxx PAC files to B07.  Shortened "Robot name" (2002)
	by eliminating "Sample Handler" so 3.3 VMCP not widened.  For
	Jt 4 Extended Reach robots made minor tuning improvements to
	dampen oscillations at Beckman: Kp (10331) 20->16, Kv (10333)
	unchanged, Accer (10338,10327) 15/180->20/150.

	For the linear rail, tighten tuning to eliminate harmonic
	oscillation between robot and rail:  Kp (10331) 12->16,
	Kv (10333) 70->90, Ki (10332) 0.4->0.2, Accer (10338,10327)
	0/200->40/100.  Also, reduced FF after design changes as follows:
	Acceleration feedforward gain (10336) 2400->1600, Velocity
	feedforward gain (10337) 2->0.5, Friction feedforward torque
	(10347) 3400->1500.  Relaxed envelope errors (10302) 1200->2600,
	(10303) 2400->4000.

3.3/3.2	130214 PFlex400SL_Prod_Bxx, PFlex400SXL_Prod_Bxx
	Added PAC files for PF400 with linear rail to CVS.  B06.

3.2	120809 PFlex400* A06/B06
	Reduced "Soft envelope error" (10302) for motors 2/3/4 from
	5000 to 2700/4300/3900.  Reduced "Hard envelope error" (10303)
	for motors 2/3/4 from 15000 to 5400/8600/7800.  Reduced joint 1
	"Joint max hard/soft stop limit" (16075,16077) to 402/401.5.

3.2	120716 PFlex400S*
	Modified 3rd parameter of Cartesian speed, accel (2701,2703) to
	have proper value for servo gripper.  This permits the timing
	of the grippers motion to be properly accounted for when the gripper
	is simultaneously moved with the robot.

3.1	120707 GSD6_VP_6242G
	Tuned DFF gravity compensation.  Adjusted torque output filters
	to suppress 40hz oscillation in joint 3.  Used new current
	loop tuning parameters from Nick.

3.1	120510 GSD6_VP_6242G
	Reduced 10613 "Auto mode max motor current" based upon new
	mechanical limits provided by Denso.  Added DFF gravity
	compensation.

3.2	120418 PFlex400SX*
	Adding 1st articles of PAC files for PF400 extended reach robot.

3.2	111121 PFlex400*_Prod_*05 robot01.pac
	Changed Z-axis scale factor from 7723.028 to 7698 per BRC as
	a better estimate.  Changed 10329 Torque output filter pole
	for joint 1 from 65 to 55 to dampen 40hz oscillation.
	Increased 10338 Accel error gain for joint 2 from 250 to 400
	to deal with axes with even less friction.  Zero'ed 2nd
	torque filter (10353,10354) for joint 4.  When gripper had
	no fingers, this filter mysteriously caused all 4 axes of the
	robot to oscillate at 50hz.

3.2	110927 PFlex400_Prod_*
	Changed 10338/10327 "Accel error gain" and filter for joints 2 and
	4 to eliminate 60hz oscillations.  Changed 10329/10330 Torque
	output filter for joint 4 to eliminate 260hz oscillation.

3.1	110926 PP2xxxA*, UP2xxxA*
	Set "Commutation position at zero index" (16653) to 1000 for
	all X/Y motors to ensure good commutation after index detected.

3.1	110913 PFlex400x_Prod_x03
	Zeroed 10683/10684 "Current offset of phase...".  For some
	robots will large phase offsets with opposite signs, a -3136
	"Cannot configure to adjust phase offset automatically" was
	being generated.  Fixed in GPL 3.1 P12.

3.1	110906 PFlex400x_Prod_B03
	Changed 10338 "Accel error gain" for joint 4 from 0 to 20 to
	eliminate 140hz oscillation in inverted robot when maximum
	payload moved at 80% speed.

3.1	110717 PFlex400_Prod_A01, PFlex400S_Prod_A01
	Created first production versions of PF400 PAC files.  These
	robots differ from the gammas in that the servo gripper has a 12
	tooth pinion instead of 18 to generate higher gripping forces.
	Other major changes: reduced "Free mode friction compensation"
	(2828) from 10% to 9% to increase stability; increased jt1
	"Dynamic feedforward mass" (16067) from 1.7 to 2.2 to better
	neutralize gravity; updated GSB DataID values 10020 to 10030 to
	proper defaults; increased limit stops to match Agilent values.

3.1	110706 GSDx robot01
	Set "Robot model number" (2007) to 2000 for all GSDx systems
	to indicate Denso robot.  Used by CalPP.

3.1	110518 PFlex400_Benchbot_Gamma
	Custom PAC files to be shipped with Agilent Benchbot robots.

3.1	110517 PFlex400_Gamma calib01.pac
	Changed limit stops to be consistent with those used by Agilent
	Benchbot robot so that CalPP can be executed just once.  Changed
	first value of 16050 to 42 to be consistent with Benchbot
	definition.

3.1	110427 PFlex400_Gamma, PFlex400_Gamma_W_EGRIPPER
	Changed 10300 Feedback compensation configuration JT 1 from 928
	to 672 to eliminate noise when axis reversed direction.  For JT 4,
	changed 10330 Torque output filter damping ration from 0.3 to 0.4
	and 10331 Proportional gain from 25 to 20 to eliminate 60hz
	oscillation when Labcyte gripper going to nests behind robot.

3.1	110418 PFlex400_Gamma, PFlex400_Gamma_W_EGRIPPER
	JT 4 300hz oscillation at low temperature when belts loose.
	Reduced Kd from 140 to 110.  Added 2nd torque output filter, 
	420hz, 0.4 damping ratio.

3.1	110408 PFlex400_Gamma, PFlex400_Gamma_W_EGRIPPER
	Added these folders to CVS.  They have the joint 2 integrator
	gain reduced from 0.8 to 0.4 relative to the first shipment
	to Agilent.

3.1/3.0/2.1  110329 PFlex1300_ProdA, PFlex1400_ProdA
	Changed "Torque output filter pole" (10329) from 45 to 60 to
	kill 150hz oscillation in joint 2 at occurs when moving at
	low speed.

3.1	110317 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	Reduced jt3 Accel error (10327) from 150 to 125 to kill oscillation.
	Increased jt3 friction ff (10347)from 1200 to 1500 to reducing
	twitching at slow speeds. Increased Feedforward torque rate limit
	(10347) from 1 to 10 for jts 1 and 3 to have it kick in more
	quickly.  Implemented PID torque limits (10351,10352).  Reduced
	jt4 Integral gain (10332) from 0.2 to 0.1 to reduce twitching
	with integrator cuts in.

3.1	110317 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	Reduced 10332 Ki for joint 4 from 0.4 to 0.2 to eliminate
	continuous oscillation during nulling when Agilent teach plate
	held during higher speed motions.  Set 10340 Integrator
	deadband to 25% of 100% inrange values to avoid end of motion
	hunting.  Changed 16070 DFF rated torque for motor 1 from
	110 to 125 to provide slight downward bias to reduce 
	friction when manually positioning Z axis.

3.1	110309 PP2***
	For Precise pseudo absolute encoders, set the "Number of
	consecutive indices to find during homing" (10241) to 2 instead
	of 0.

3.1	110308 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	Reduced jt1 envelope errors (10302,10303) to 5000,15000 to
	be more inline with expected errors.  Reduced jt4 accel
	(2702) from 5700 to 4000 to reduce envelope errors with
	200g payloads at 100% speed.

3.1	110308 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	To eliminate speed 5 60hz rumbling reported by Agilent, high
	speed instability in exercise program, and 500hz whine in jt3
	in Labcyte rumble program, changed:  jt2 accel error (10338)
	60->110 (10327) 200->150, jt3 torque output filter (10329)
	250->300.  Changed jt3 integrator gain (10332) from .4->.2
	to eliminate oscillation when holding heavy Agilent teach plate.

3.1	110119 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	To eliminate Labcyte speed 80 rumble, BRC changed the following
	for Jt2:  Torque output filter (10328) 300->400, (10329) 0.3->0.4,
	Accel error gain (10338) 90->60.  To reduce twitch when direction
	reversed at end of slow motion, changed FF torque rate limit
	(10348) from 10 to 1 for all axes.
	
3.1	110117 PFlex400_Beta, PFlex400_Beta_W_EGRIPPER
	Added PAC files into CVS.

3.1	101031 GSD6_VS_6556G calib.pac
	Tuned up DFF values based upon gravity loading data collected by 
	Victor.

3.1	101026 controller.pac for all production PAC files
	Added "Hardware MCP label" (DataID 637) to display system name
	on hardware MCP.

3.1	100927 GSD6_VS_6556G
	Added gravity compensation using DFF facility, corrected encoder
	sign and scale factors per Victor's testing, and upgraded to
	Victor's latest tuning parameters.

3.1	100731 PFlex400_Beta
	Added PAC files for Beta version of PFlex400 robot.

3.1	100623 GSD6_VP_6242G
	Changed "Ignore encoder battery alarm during homing" (10251) to
	all 0's instead of all 1's.  Don't know why they were set to 1.

3.1	100702 GSD6-VS_6556G
	Added PAC files for mid-sized Denso 6-axis robot.

3.1	100623 GSD6_VP_6242G
	Changed "Min accel time to 5000 RPM" (10252) from 50 to 37.5 for
	all motors.  Carl though 50 was too tight for unloaded Autotest
	fixture.

================ Versions 3.0 (renamed 2.2 090524) =======================

3.0	100621 GSD4_HS_45552G
	Added Denso HS 45552G SCARA robot PAC files.  These are generic
	files with no references to a specific customer or application.

3.0	100618 GSD6_VP_6242G
	Added Denso VP 6242G 6-axis robot PAC files.  Reduced trajectory
	rate to 4 msec. Turned on "Min. accel time to 5000 RPM" (10252)
	test. Changed "Duty cycle limit in terms of rated torque, %"
	(10623) from 200% to 100% for all motors.

3.0	100617 PP2200A
	Reduced PID gains on first PP XY robots due to no Z-axis load.
	"Proportional gain" (10331) 225, 130 -> 150, 80; "Integral
	gain" (10332) 5, 4.4 -> 3.5, 3; "Derivative gain" (10333)
	2100, 1300 -> 1500, 1000.

3.0	100607 PFlex1300_ProdA, PFlex1400_ProdA
	Added setting for "Delay servo error power off" (142).  Increased
	"E-Stop delay" (267) from 0.25 to 0.5 to allow time for controlled
	deceleration.  Changed "RapidDecel deceleration" (2101) from 1% to
	50% and RapidDecel mode (2112) from 0 to 2 to provide better
	controlled deceleration.  Increased "AUTO mode max motor current"
	(10613) for motor 1 from 210% to 303% due to improvement in
	over-current and amp fault detection to increase performance of
	joint 1.

3.0	100605 Created PP2200A
	Created PAC files for PrecisePlace 2200A XY robot.  Generated
	from PP2300A files.

3.0	100312 Created PP2100A, PP2210A
	Created PAC files for PrecisePlace X-only robot, and PrecisePlace
	XZ only robot.  Generated from PP2300A files.

3.0	091121 PP2400A_HiRes, PP2300A_HiRes
	Based upon Surefire bring up, changed the following for Jt1 and
	Jt2: adjusted all gains to be PP2x00A values adjusted for increase
	in resolution for 1um scales (eliminated oscillation in X during
	speed 10 motions near 0,0,0); increased homing acceleration (2807)
	to 160000 to quickly stop after index; increased hardstop
	envelope (10122) to 1000; re-enabled index checking (10200);
	adjusted encoder filter (10220) to eliminate quadrature errors.

3.0	091107 Created PP2400A, PP2300A_HiRes, PP2400A_HiRes, UP2400A
	Added support for new PlacePlace Theta axis with belt drive and
	absolute encoder, and high resolution incremental encoder for
	PP X and Y axes.

3.0	091010 PP2400A_Pilot
	For the Theta axis, BRC instructed that the PAC files should
	be changed as follows:  Kp reduced from 33 to 25 and
	Kd reduced from 580 to 400.  Theta zero index checking turned
	off in 10200.  Theta encoder filter disabled in 10220 to
	avoid possible FPGA bug.

3.0	091010 PP2300A, PP2400A_Pilot, UP2300A
	To compensate for motor 1 200V windings and to improve performance
	in general, "Velocity error SPR filter" (10326) and "Motor velocity
	SPR filter" (10207) changed from 100 to 200 for all axes. 
	Reduced integrator limits (10334) from 10000 to continuous tcnt
	value for all four axes: 7000, 6000, 6000, 5000.

3.0	090918 PP2400A_Pilot
	Add support for PP2400A Pilot Robot.  This has the absolute encoder
	on the Z axis, 200V motor for axis 1, but the old traction wheel
	Theta.  Only two of these units will ever be built.

3.0	090803 UP2300A
	Added new folder for Uniplace2300A as part of the product
	rebranding for Schunk.

3.0	090803 Misc.
	Changed controller names to "xxxx Robot" so that navigation bar
	on web page will read correctly.

3.0/2.1 090524  PP2300A
	Added new folder for PP2300A production robot.  Includes abs
	encoder on Jt3 and 200V Jt1 motor.

3.0 090422  PFlex1300_ProdA
	Set "Disable auto phase offset adjustment" DataID 10695 to
	zeros to re-enable.  BRC didn't know why this was disabled.

3.0 090422  PF1400_ProdA
	Created new set of PAC files for Production A PFlex 1400.

3.0 090203  PFlex1400/PFlex1300 robot01.pac
	Change J1 Kd (10333) from 150 to 120 to eliminate noize in Z when J1
	moving slowly.  Requested by BRC.
	Change PFlex1300 Kp (10331), Kd (10333), Integrator limit (10335),
	Accel FF (10336), and Ka (10338) values to match PFlex1400.

3.0 090202  PFlex1400/PFlex1300 robot01.pac
	Changes for PFlex running at 220V.
	Change current loop Kp (10656) to  0.013, 0.013, 0.013, 0.01388281
	Change current loop Kv (10657) to  0.418, 0.4, 0.41, 0.4048828
	Also changed in 2.1

3.0 090121  PP2300/2400 Pilot	robot01.pac
	Reduced Ki (10332) from 6 to 5 and integrator rate limit (10335) from
	150 to 120 for joint 1. Two PP2400 robots at Innovative Drive have
	J1 oscillation problem if the Z axis is at the far end of Y axis beam
	(away from the X carriage) and jogging X axis at low speed.
	Increased Kp (10331) from 31 to 33, Ki (10332) from 0.2 to 0.6 and
	Kd (10333) from 550 to 580 for joint 4 of PP2400. Two PP2400 robots
	at Innovative Drive exhibited excessive error at J4 roller bumps.
	Inceasing these gains reduced the position error (at low speed) from
	20+ counts to 10-13 counts at the bumps.
	Also changed in 2.1

===========================  Versions 2.1 =======================

2.1 090524  PP2300A
	Added new folder for PP2300A production robot.  Includes abs
	encoder on Jt3 and 200V Jt1 motor.

2.1 090311  PFlex1300_ProdA all files
	Defined first set of PAC files for Production version A of the
	PreciseFlex 1300 robot.  Files obtained from BRC.

2.1 090203  PFlex1400/PFlex1300 robot01.pac
	Change J1 Kd (10333) from 150 to 120 to eliminate noize in Z when J1
	moving slowly.  Requested by BRC.
	Change PFlex1300 Kp (10331), Kd (10333), Integrator limit (10335),
	Accel FF (10336), and Ka (10338) values to match PFlex1400.

2.1 090202  PFlex1400/PFlex1300 robot01.pac
	Changes for PFlex running at 220V.
	Change current loop Kp (10656) to  0.013, 0.013, 0.013, 0.01388281
	Change current loop Kv (10657) to  0.418, 0.4, 0.41, 0.4048828

2.1 090121  PP2300/2400 Pilot	robot01.pac
	Reduced Ki (10332) from 6 to 5 and integrator rate limit (10335) from
	150 to 120 for joint 1. Two PP2400 robots at Innovative Drive have
	J1 oscillation problem if the Z axis is at the far end of Y axis beam
	(away from the X carriage) and jogging X axis at low speed.
	Increased Kp (10331) from 31 to 33, Ki (10332) from 0.2 to 0.6 and
	Kd (10333) from 550 to 580 for joint 4 of PP2400. Two PP2400 robots
	at Innovative Drive exhibited excessive error at J4 roller bumps.
	Inceasing these gains reduced the position error (at low speed) from
	20+ counts to 10-13 counts at the bumps.

2.1 081114  PFlex1400  robot01.pac
	Reduced Kd (10333) from 8 to 4 for joint 4 at Victor's
	recommendation due to a slight oscillation he saw on some
	motions.

2.1 081113  PFlex1300/1400 Pilot
	Reduced manual control jog speeds, DataIDs 2820/2821, to 3%.

2.1 081113  PFlex1300 Pilot, PFlex1400 Pilot
	Reduced jog speed (ID 2820, 2821) from 16 to 5.
	Reduced min. time to accel to 5000RPM from 3 to 2 msec.
	Added feedforward torque rate limit (ID 10348) and set to 300.
	Updated name for ID 2110.

2.1 081107  PFlex1300 Pilot, PFlex1400 Pilot, PP2210 Pilot
	New configuration files added to CVS.

2.1 081104  PFlex1400 Proto	calib01.pac
	Changed "Tool set at restart" to null tool.  Used to be set
	for horizontal tool with 100mm tool length.

2.1 081031  All controller.pac
	Changed "Delay after setting brakes in sec" (DataID 260) to 0.05
	Changed "Delay after releasing brakes in sec" (DataID 261) to 0.1

2.1 081030  PP2300/2400 Pilot	robot01.pac
	Changed "Acceleration feedforward gain" (DataID 10336) for
	the X axis from 45000 to 12000.  Old value caused excessive
	jitter when tracking a conveyor belt.

2.1 080818  All controller.pac
	Changed 781 "CPU Monitor interval in sec" to 5
	Changed 782 "CPU Monitor log max entries" to 0
	This sets the CPU monitor to run for 5 seconds with no log buffer
	to simply get performance statistics.

===========================  Versions 2.0 =======================

2.0 080916  PP2400_Pilot	robot01.pac 

	Changed "Hardstop envelope limit" (DataID 10122) for Theta of PP2400
	robot from 10 to 100 to prevent sticking of the slider stop (per BRC).

2.0 080805  All robot*.pac

	Removed ID 2016, "Disable servo timeout check" from all files.
	Was incorrectly set to "1".

2.0 080620  PP2300/2400 Pilot   robot01.pac

	Updated ID 10300 and 10332 due to lower friction in X and Y axes.
	Removed obsolete IDs: 10031, 10675, 10780.
	Added 10770-10774 to PAC files.

2.0 080618  PP2300/2400 Pilot   calib01.pac, controller.pac,
	diomotion01.pac, gpl_vars.pac, robot01.pac

	Created set of PAC files for Pilot set of robots.  These are
	the units after the 10 beta units.  In general, these robots
	have the new X-axis cross section and plastic end caps or are
	the beta units that have been reworked.

2.0 071212  PP1400 robot01.pac

	Increase binary search commutation effort to 45% for
	theta axis after a failure at J&J.

2.0 071001  PP1210/PP1300/PP1400 robot01.pac

	Changed "Search ref operation effort" for X and Y axes
	to 50 from 35 as requested by Brian C.

2.0 070918  All controller.pac

	Changed "Delay after setting brakes in sec" to 0.5 from 1
	second, so that it is shorter than the "E-Stop delay in sec".
	This is to allow GPL to turn off the amplifiers before the
	E-Stop circuit times out and causes amplifier error messages.

2.0 070803  Analytical_Chem/PP1300/PP1400/PP1210/PP121A robot01.pac

	Reset X-axis & Y-axis proportional gains from 60 and 50 back to
	40, and derivative gains from 1300 and 1200 to 1200.  Increased
	acceleration feedforward from 0 to 10000 of X, Y, and Z.   This
	was done at Brian's request to improve performance.

2.0 070702  Analytical_Chem/PP1300/PP1400/PP1210/PP121A robot01.pac

	Increased X-axis & Y-axis proportional gains from 37.98 to
	60 and 50, and derivative gains from 700 to 1300 and
	1200 respectively.  This was done at Brian's request to
	eliminate wiggling at speed 20.

===========================  Versions 1.4 =======================

1.4 070510  Analytical_Chem/PP1210/PP121A/PP1300/PP1400 robot01.pac

	Disabled index checking for dual loop encoders that now
	have their encoder counts/revolution (10203) set.

1.4 070418  Analytical_Chem/PP1210/PP121A/PP1300/PP1400 robot01.pac

	Added Jt 1/2 motor encoder factors to DataID 10203.  Added
	for compatibility with configuration utility, should not
	affect functional operation of robot.	

1.4 070413  PP1210/PP1300/PP1400 robot01.pac

	Change all the non-gravity loaded axes to use new reference
	finding method (set 10700 to 5). Changed 10761 to 0.2 from
	default value to increase the search speed. Changed 10763 to
	indicate gravity loaded axis although it is not configured
	to use the new reference finding method. Changed 10778 to
	35 from the default value as more effort is needed for the
	PP robot.

1.4 070402  Analytical_Chem/PP1210/PP121A/PP1300/PP1400 robot01.pac

	Increased X and Y axis "Derivative gain, Kd" (DataID 10333)
	from 506.4 to 700.  This was recommended by Victor since it
	eliminated wobbly diagonal motions in X and Y.  This was
	discovered during dispensing testing and is especially
	noticable with heavier payloads.

1.4 070131  Analytical_Chem/PP1210/PP1300/PP1400 robot01.pac

    	Increased Z axis "Duty cycle exceeded duration" (DataID 10622)
	from 4 seconds to 6 seconds to avoid errors due to increasing
	the "Hardstop envelope limit" (DataID 10122) (see below).

1.4 070126  Analytical_Chem/PP1210/PP1300/PP1400 robot01.pac

	Protedyne experienced intermittent bad homing results on the Z axis.
	They had a problem with binding in the Z-axis cable rack.  In
	addition, the hard stop detection limit is probably too low given
	normal position errors with maximum load.  For the Z-axis, increased
	the "Hardstop envelope limit" (DataID 10122) from 200 to 300.


===========================  Versions 1.3 and earlier =======================

1.3 061228  Analytical_Chem/PP1210/PP1300/PP1400 robot01.pac

	On GPD #1 and Telesis #3, at Chad, Brian experienced nulling
	time out errors on the Z-axis when InRange set to 100, using
	GPL 1.3 with a 3kg payload.  We believe that we were not getting
	errors with previous GPL versions since there was a bug in
	the in-range testing.  Changed "Proportional gain, Kp" (DataID
	10331) from 37.98 to 50.  Changed "Integrator limit" (DataID
	10334) from 3000 to 7000.

1.3 061020

	Corrected index detection pattern for Teco motor for all PP robots.
	Wasn't detected because index error reporting is turned off for this
	motor.

1.3 060921 calib01.pac

	Changed negative hardstops for XYZ of the PP1300 and PP1400 robots to
	-2 instead of -5 per Brian.

1.3 060920

	Modified tuning constants and duty cycle value for Jt3 of the PP1400
	per Victor.

1.3 060830 robot*.pac

	Remove obsolete dataid 10024 from robot*.pac files

1.3 060815

	Changed in-tolerance duration (10324) from 16 msec to 8 msec

1.3 060719

	Removed obsolete dataid 2011.  Axis mapping now automatic.

1.3 060718 controller.pac

    	Removed DataID 423, Web index from all controller PAC files.  This
    	value is no longer saved and defaults to 1 on boot.

1.3 060715

	Changed PP1400 Theta motor commutation sign back to +1 per Victor.

1.3 060713 

	Shortened robot names in PAC files to fit on web pages.

1.3 060712

	Updated PID feedback constants and motor phase sign for new PP1400
	Theta axis per Victor.

1.3 060531 robot01.pac

	Change to tick mode parameters for PP robots in connection with
	Victor's changes to the virtual pendant tick mode.
