
This README file contains important information about GML Commander 4.03, effective as of November 1999. 

TABLE OF CONTENTS
-----------------
1.  Latest Update Information
2.  Installation
3.  System Requirements
4.  Converting GML 3.x Diagrams
5.  Known Issues

1. LATEST UPDATE INFORMATION
-----------------------------

Version

4.03

  Compatible With the following Motion Control Firmware:

  1394 Turbo GMC System   iCODE Firmware: V3.5 to V3.9
  1394 GMC System         iCODE Firmware: V3.0 to V3.9
  1394L GMC System	  iCODE Firmware: v3.9
  Compact IMCS/23x        iCODE Firmware: V3.0 to V3.9
  IMCS/20x and S/21x      iCODE Firmware: V2.3 or V2.4


What's New in GML Commander 4.03
================================================
* A new System Function, Get_Firmware, has been added that returns a three-digit integer value representing the controller firmware version, (e.g. version 3.9 is described as 390; version 3.9A is described as 391; etc.). This function requires no parameters.

* Support for the IMC S Class 1394L "One and One-Half Axis" motion controller, by adding the new selection "1394L" to the Control Type list in the General page of the configure Control Options dialog box. The 1394L motion controller is a simplified version of the IMC S Class 1394 controller, and is designed for use in either low complexity automation applications, or  low complexity application components. The 1394L provides two axes: a full servo axis (AXIS0), and a master only axis (AXIS1).

* Support for ControlNet high-speed communications. ControlNet permits communications among up to 99 devices on a fiber-optic network, and lets you transfer input and output files of up to 32 words in length, and store variable values in the shared DH-485/ControlNet data files of the local motion controller. New ControlNet features include:
 - a CNET-enabling checkbox on the General page of the configure Control Options dialog box,
 - a CNET configuration page, added to the Configure Control Options dialog box,
 - a CNET palette containing three new CNET-related function blocks (On CNET Status, Show CNET Status and Reset CNET),
 - three General System Variables (CNET_fault, CNET_fault_code, and CNET_status),
 - a Data Bit (B65 - CNET Enabled 1394),
 - five Data Parameters (D140 - CNET Number of Input Bits; D141 - CNET Number of Input Floats; D142  - CNET Number of Output Bits; D143 - CNET Number of Output Floats; and D144 - CNET MAC ID),
 - new tag dialog boxes that give you the ability to create CNET Input Bits, CNET Output Bits, CNET Input Floats, CNET Output Floats, CNET Input Group Bits, CNET Output Group Bits, and CNET Local Variables,
 - a new Global Fault: CNET Fault (Global_fault = 16).

* A "Copy Axis Data to" sub-menu command has been added to the floating menu bar for the Configure Axis Use dialog box for a physical axis. This command provides the ability to configure a physical axis by assigning to it the same settings of another, previously configured physical axis. See the Online Help topic "How to Enable and Configure a Physical Axis" for details of this new functionality.

* The Tag Explorer now displays the working value, power-up value and address for all Data Parameters and Data Bits.

* The Module Documentation dialog box now displays the name of the current module.

* A Module Documentation Button has been added to the Main Toolbar providing easier access to the Module Documentation dialog box.

* A "Collapse Navigation" sub-menu command has been added to the floating menu bar in the Diagram Window allowing the user to navigate "up" the branch to it's predecessor or parent modules, up to a maximum of ten levels.

* The Properties dialog box now includes an "Ignore Translation Warnings" selection which overrides GML Commander software generated warnings during translation to script. Using this feature while developing a diagram lets you translate your diagram and check its iCODE during diagram development, without having to respond to a series of messages warning that function blocks in the diagram are not connected either to each other, or to Start or End blocks.

* A "Module Tree" selection has been added to both the Print and Print Setup dialog boxes. Select this to include the Module Tree (from the Diagram Explorer), in text format, in the diagram print-out.

* A new Shunt Resistor ID (1394-SR-10-A) has been added to the list of supported shunt resistors in the Smart Power page of the Configure Control Options dialog box.


2. INSTALLATION
----------------
  You must have a 1.44Meg High Density Disk Drive or CD ROM, depending on the install media you have purchased.

  To start the installation, run Windows 95 or later or Windows NT4.0 or later.

  Either: From the Start Menu, select Settings, Control Panel.  Double-Click the icon named Add/Remove Programs".  Select the "Install..." button and follow the instructions in the Install Dialog.

  OR follow the specific procedures below.


    CD Installation:
    ==================
    Place the CD in the CD ROM drive and the installation 
    will normally run automatically.

      If the Install does not run automatically:
      -----------------------------------------
      Select Run from the START MENU and use the Browse Button to 
      browse to the CD ROM drive. The type the following:

      SETUP.EXE and select the OK button.

    Follow the instructions given during the Setup of GML Commander.

    Disk Installation:
    ==================
    Select Run from the START MENU and use the Browse Button to 
    browse to the Floppy drive. Then type the following:

    SETUP.EXE and select the OK button.

    Follow the instructions given during the Setup of GML Commander.

3. SYSTEM REQUIREMENTS
-----------------------

  GML Commander for Windows has the following requirements:

  - Minimum Configuration: 486 PC Compatible with at least 8MB (MegaBytes) of RAM. VGA Monitor running in standard 640 by 480 Resolution. Serial port (RS-232) interface.

  - Recommended Configuration: Pentium with at least 32MB of RAM for higher system performance. VGA Monitor operating at (800 x 600) or (1024 by 768) Resolution. Serial port (RS-232) interface. CD-ROM and Soundblaster-compatible sound card required to run Multimedia demonstration program.
    
  - (WindowsNT 4.0 or greater), or (Windows95 or greater) by Microsoft Corporation.

  - Microsoft Mouse or Windows Compatible Mouse.


4. CONVERTING GML 3.X DIAGRAMS
-------------------------------
4.1) GML Commander will only open GML3.6 or later diagrams.  If a diagram is older than 3.6 it must be opened in GML 3.6 or later GML 3.x version, and saved before GML Commander can open it.

4.2) GML Commander only supports IMCS Class Firmware 2.3 or greater.

4.3) GML Commander does not support Runtime Display in the Configuration Menu - Use the Configure Auto-Display in the application to get this functionality.  This allows portability from one diagram to the next, (using copy and paste) which is not possible if they are tag definitions.

4.4) GML Commander does not support Runset Menu Items in the Configuration Menu  - Use the Edit Value and Toggle Choice blocks in the application to get this functionality. This allows portability from one diagram to the next, (using copy and paste) which is not possible if they are tag definitions.

4.5) GML Commander does not support the following GML 3.x blocks:
		Do Setups
		Do Runset Menu
		Send Remote Command

4.6) GML 3.x will only allow 10 characters in the axis name when referenced in an expression, truncating any other characters in the name as defined in Axis Use. GML Commander allows the longer names and will report an error "Illegal Expression" stating the axis name in the equation does not exist, if you are converting a GML 3.x file.  You can either truncate the name in the control options, or replace all the expressions that contain the old axis reference, with a new, longer axis reference.  Before converting GML 3.x files, it is advised to check for long axis names.

4.7) GML Commander will enforce the control's minimum lock tolerance of 1/(Conversion Constant). GML 3.x did not let you know that the control truncated this value on download.

4.8) GML Commander has reduced the number of program blocks by combining the functionality of similar blocks used in GML 3.x.  Because of this, once a  GML 3.x diagram has been opened and converted by GML Commander, it CANNOT be saved as or reverted back to a GML 3.x diagram.  It is highly recommended to maintain a backup copy of the original GML 3.x diagram if future work may need to be performed using GML 3.x software.

4.9) GML Commander has different "default" values for various Axis Configuration parameters than GML 3.x.  The affected parameters, with their new default settings include:
		Overtravel Limit Switch - Normally Closed
		Drive Fault Input - Normally Closed
		Motor Thermal Fault (1394/T) - Normally Closed
	

5. KNOWN ISSUES
-------------------

5.1) When printing script files, the printout does not include either page numbers or the file name. (# 483)

5.2) The Send function (File menu) does not work unless the diagram to be sent has first been saved and named (i.e., if the diagram retains its default name, Diagram1, the Send command will not work). (# 485) 

5.3) Both Print and Print Preview for the Native Code bock displays not only that block's iCODE, but also the hidden characters (e.g., space and carriage return characters) in the block. (#493)

5.4) If GML Commander is open in Print Preview, using Windows Explorer to open another GML program causes the GML Commander Main Menu to appear above the Print Preview screen. (#504)

5.5) GML Commander allows a Native Code block to pass validation tests if nothing is entered into this block's Statement(s) window. (#513)

5.6) The error message, for creating an invalid slave count to master count ratio in the Gear Axes block, mistakenly states this ratio's upper limit is 99,999.99999. (#523) 

5.7) The keyboard shortcut key combinations of Ctrl+F4 (Close) and Ctrl+F6 (Next) do not function for the Diagram Documentation dialog box. (# 533)

5.8) When a diagram is downloaded to the controller, a meter displays the download in progress as a percentage from 0% to 100%, but mistakenly returns to 1% completion just as the download is completed. (# 536)

5.9) When the controller is reset and the controller type and software version is displayed in the Terminal Window, GML Commander fails to print the entire third and fourth lines of data. (# 538)

5.10) GML Commander does not parse each response by the controller to a multiple, or chained, command (e.g., multiple commands included in a Reset Fault block set to "All Faults") issued by GML Commander. If the controller accepts the first command, but returns error codes on later commands in the chain, GML Commander reads only the first response and does not report any errors. (# 541)

5.11) Occasionally, unwanted characters appear at the end of a trapped command in the Terminal Window. (# 543)

5.12) Using the up and down arrow keys to navigate through list-type controls is not supported in the Expression Builder. (#546)

5.13) If GML Commander is closed in its minimized window state, it will open in its minimized state when re-opened. (# 550)

5.14) In the Toggle Choice block, the right mouse button does not provide pop-up edit menu functions, such as copy or paste. (#551)

5.15) If a runtime fault occurs while GML Commander is online, it is possible to 
lose communications and not receive information describing the cause of the 
runtime fault. (# 578)

5.16) After an error message for the Build Table dialog box is closed, focus 
does not return to the Build Table dialog box. (# 595)

5.17) If SLC is enabled (in the General page of the Configure Control Options dialog box) and if M0 floats are set to some positive integer (in the SLC page of this dialog box), GML Commander fails to catch - as a validation error - the situation where a user firsts declares and assigns a value to an SLC M0 Float, then changes the number of SLC M0 Floats back to zero. (#603)

5.18) If a GML v3.x diagram contains an out-of-range value in the Average Velocity Timebase field (in the Positioning page of the Configure Axis Use dialog box), GML Commander v4.01 will not catch the error upon validation. (# 608)

5.19) With GML Commander closed, it is not possible to open more than one diagram from Windows Explorer, when multiple diagrams are selected. (# 634)

5.20) When using the Tab key to navigate the Gains page of the Configure Axis dialog box, the Velocity Filter Bandwidth checkbox is not highlighted when it has focus. Until this issue is resolved, navigate and make selections in this page using the mouse. (# 651)

5.21) If you select Print Preview in the currently open GML v4.02 application program, then use Windows Explorer to open a GML v3.0 diagram that contains a module named "New Module", GML Commander v4.02 displays an error message then crashes. (# 673)

5.22) Saving a GML version 3.9 diagram in GML Commander version 4.02 causes the name of the saved diagram to appear in upper-case. (# 692)

5.23) GML Commander will add extra characters to the ".U" line in iCODE setups, after downloading the diagram and saving setups. This can cause a problem if the iCODE script file is saved and later downloaded. A workaround is to open the commander setup script file using GML 3.9.1 and deleting the extra characters resave. (#724)

5.24) The Load Reversal Backloash Compensation selection (in the Positioning page of the Configure Axes Use dialog box) yields inaccurate compensation values. A workaround is to use the Positive Approach and Negative Approach selections and toggle between them using a Control Settings block to reset the value of Data Bit #13 (Backlash Takeup Direction) between 0 (Negative) and 1 (Positive) each time movement direction changes. (#729)

5.25) Multidrop takes effect immediately upon GML Commander going online, instead of upon download. (# 733)

5.26) The Marker Test for 1394 series controllers - using GML Commander v4.01 - fails to detect no motion of the axis being tested, and falsely indicates the test has been passed. (#737)

5.27) For conditional blocks, the "true" output node (value = 1) is on the top and the "false" output node (value = 0) is on the bottom. These numerical values are not marked on the nodes of the block. (#738)

5.28) It is possible to inadvertently change the address of either an SLC or CNET float when you reset the 1394 Turbo controller. For example, if you enable either SLC or CNET in the 1394 Turbo, then define SLC or CNET input or output floats so that there is a gap in the address sequence of the floats (e.g., addresses 1, 2, 14), then reset the 1394 Turbo, there will be no gap in the address sequence of the floats (e.g., the new sequence would be 1, 2, 3). (#745)

5.29) If your diagram has 14 defined SLC Input Floats, and then the number of enabled SLC Input Floats is reduced to 13 (or less), GML Commander will nevertheless download the diagram without catching the now invalid SLC Input Float(s) in its validation testing. (#746) 

5.30) If you type the name of a declared SLC input or output float into the Expression Builder's "Expression=" field, or into a dialog box field from which the Expression Builder can be activated, the value will be accepted and will not be caught by GML Commander's validation testing on translation to script. However, the existence of the SLC input or output float will cause a runtime fault upon diagram execution. (#754) 

5.31) Problems sometimes occur when connecting a Watch Control block to the End block or, with a Watch Control block already connected to the End block, connecting another block to the End block. Try changing the order in which the connections are made, or use another block between the Watch Control block and the End block, then delete the intervening block. (# 758)

5.32)  It has been reported - but not yet independently verified - that in some circumstances a module, that had been copied then deleted, reappeared in the diagram; when an atempt was made to again delete this module, the diagram crashed. (#759)

5.32) When the firmware setting is changed to an older version that does not support the type of Flex I/O module on which a configured tag depends, GML Commander will not notify the user to re-configure Flex I/O tags before changing the firmware setting. Instead, the old tag continues to exist, though it is not displayed. To re-use the tag name, re-set the firmware to the original higher version, then edit the tag so that it can be used by the lower-version firmware. Then select the lower-version firmware. (# 761)

5.33) Only the Home, End, right arrow (expand) and left arrow (collapse) keys permit navigation in the Tag Window. Use the mouse for other navigation choices. (# 770)

5.34) It is sometimes possible to highlight more than one item in a list by holding down and dragging the left mouse button. However, only the first highlighted item is selected. (# 771)

5.35) GML Commander does not notify the user upon opening the Read Remote Value block if AxisLink is not enabled. (# 772)

5.36) The Read Remote Value block will accept a real number, and not just integers, in the Variable # field. (# 773)

5.37) When defining a new user constant from within the Expression Builder, upon "OK", focus jumps to General System Variables instead of remaining at User Constants. (# 774)

5.38) In the Read Remote Value block, the From Controller field is enabled if AxisLink is enabled (in the General page of the Control Options dialog box), even though no remote controllers are enabled (in the AxisLink page of the Configure Control Options dialog box). (# 775)

5.39) When attempting to define a new RIO Formatted Input or Output with an address of 100 or higher (with RIO configured for a Full Rack Size in the RIO page of the Configure Control Options dialog box), an unnecessary error message arises. The message states that the range of permissible values is 0 to 99. However, the message is unnecessary because - if the address is lowered to 99, for example - a second error message is displayed indicating the only addresses beginning at 4, 20, 35, 52 or 68 are acceptable. (# 776)

5.40) Print Preview does (but should not) display previously configured variables or I/O that have been rendered invalid either by a change in firmware or by disabling I/O. (# 777)

5.41) In a Build Table block, copying then attempting to paste multiple rows of cells at the end of the table can cause unpredictable results, including causing the program to hang. (# 779)

5.42) The Edit Value block permits entry of a value into the Smallest Value field that exceeds the Largest Value field value. (# 781)

5.43) The sequence of listed user variables, in the Destination page of the control Settings block, differs from the sequence of the same user variables in the Tag Window (with User Variables selected in the Tag Explorer). (#782)

5.44) In the Watch Control block, toggling the Class of event between Registration and Watch Position can cause the Minimum Position (for Registrations) value to become the Setpoint Position (for Watch Positions) value. No warning message appears. (# 784)

5.45) It is possible to define variables or I/O with the same names, changing only the upper-case and lower-case combinations of letters in the name. This can be misleading. (# 788)

5.46) GML 3.9.1 diagrams with Low Line Voltage selected do not properly translate to GML Commander 4.02. Although GML Commander 4.02 will display the Low Line Voltage selection in Print Preview, this selection is not included in the iCODE script. (# 790)

5.47) When canceling an executing Battery Box test (in the Hookups page of the Configure Axis Use dialog box), the controller will frequently go offline. This requires the controller to be RESET. (# 795)

5.48) The Gear Axes block Slave Counts and Master Counts fields accept values in excess of their respective five and nine digit limits. (#796)

5.49) For an Output Cam block set to disable, GML Commander improperly translates to iCODE the Cam # reference, by failing to place the Cam # inside brackets. A workaround is to use a Native Code block to replace the Output Cam block used to disable an Output Cam. (#804)

5.50) With RIO enabled (in the Configure Control Options dialog box) and with RIO Rack Size set to 3/4 (in the RIO page), GML Commander permits the declaration of three Formatted Output groups beginning at addresses 4, 20 and 36. The problem is that the Formatted Output group begining at address 20 should not be permitted, because it overwrites parts of the other two Formatted Output groups. (#806)

5.51) If SLC Input Bits 0 - 23 and SLC Output bits 0 - 39 are enabled (in the SLC page of the Configure Control Options dialog box), the GML Commander Tag Window will display "?" as the value for SLC Output Bits 24 - 39. As a workaround, be sure to enable the same number of SLC Input and Output Bits. (#811)

5.52) When executing a Reset Fault block set to Reset 1394, the Terminal Window displays the message "Reset fault for Axis ...", instead of indicating that all 1394-related faults are being reset. (#818)

5.53)  An error message ("Program in Control Does Not Match Current Diagram") mistakenly appears in the Terminal Window in the following scenario:
- upload a diagram in the Upload dialog box, with "All" the selected Upload Option, then 
- download the diagram script, then
- go offline, then
- go online. This message appears. (#835)

5.54) GML Commander's Diagram Explorer displays modules in alpha-numeric order, upon opening a diagram. However, if the name of a module is edited, GML Commander will not re-sort the modules to display them in alpha-numeric order until the next time the diagram is closed and re-opened. (#844)

5.55) The Upload dialog box does not properly upload Cam Point values for a Virtual and/or Imaginary axis as configured in a Build Table block. Although the Build Table block will properly let you select a Virtual or Imaginary axis, the Upload dialog box will not let you select such an axis, but will instead use a physical axis - and that physical axis' Conversion (or K) Constant - when uploading the Cam Points. (#872) 

5.56) In the Configured page of the Watch Control block (with Type "Enable Event/Action" and Class "Configured" selected in the Watch Control page), pressing the Alt+W keys after a Tag has been selected accepts the settings and closes the dialog box. (#873)

5.57) With Control Type set to 1394/1394 Turbo (in the General page of the Configure Control Options dialog box), GML Commander places the focus in the "Control's Motor Selection" field when you open the Tune Servo page, even though this field is grayed-out and the value cannot be edited. (#875)

5.58) If both DH-485 and AxisLink are enabled (in the General page of the Configure control Options dialog box), then the DH-485 baud rate is set to 9600 (in the DH-485 page of the Configure Control Options dialog box), if you then click on the AxisLink tab, the DH-485 baud rate will change to 19200 without notice. (#877)

5.59) If you attempt to upload a diagram from the controller (by selecting All in the Upload dialog box) to save as script, GML Commander will not include DH-485 Local (including CNET) variable values in the uploaded script. (#885)

5.60) With Drive Interface Module Axis selected (in the General page of the Configure Axis Use dialog box), GML Commander prompts you to update the motor ID when you try to tune Gains (in the Tune Servo page). Instead of updating the motor id, a workaround is to re-select Drive Interface Module Axis. (#887)

5.61) GML versions 3.X let you define a User Variable so that it had the same name as a System Variable. GML Commander has reserved the names of System Variables, and does not let you give a User Variable the name of a System Variable. When you convert a GML version 3.X diagram (with a User Variable bearing the name of a System Variable) any value such a User Variable held is lost and replaced by a "?". As a workaround, edit the GML version 3.X diagram - before converting it to a GML Commander version 4.0X diagram - by re-naming the offending User Variable so that it doesn't bear the name of a System Variable. (#890)

5.62)  After downloading a diagram with a small Conversion Constant (set in the Feedback page of the Configure Axis Use dialog box) and a small Lock Tolerance value (set in the Positioning page), the controller icon in the Apply page mistakenly indicates that the diagram in the controller differs from the diagram in GML Commander. This does not occur for larger Conversion Constant and Lock Tolerance settings.  (#891)

5.63) Downloading a diagram from the Apply page of the Configure Axis use dialog box will not change the Position Units value (set in the Units page), if that value has been changed. A workaround is to download the diagram using the Diagram Download command on either the Online Toolbar or the Diagram menu. (#893)

