Standard PAC File Change Log

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

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

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.
