MotionLink Revision History
                             Version: 4.5.2 
                        (previous version: 4.5.1)
                             July 29, 2004

1)The motor database AKM was updated again.

		      MotionLink Revision History
                             Version: 4.5.1 
                        (previous version: 4.5.0)
                             June 22, 2004

1)The motor database AKM was updated.


		      MotionLink Revision History
                             Version: 4.5.0 
                        (previous version: 4.4.9)
                             June 22, 2004

1) Support for AKM motors added (MOTORTYPE 3)
2) AKM motors added to motor database
3) Bug fix: Read/Write parameters trough SERCOS did not worked
  


		      MotionLink Revision History
                             Version: 4.4.9 
                        (previous version: 4.4.8)
                             March 25, 2004

1)Bug fix: In backup screen, if line "MPHASE xx" appears instead of "MPHASE=xx" ML did not set the MPHASE value at all.

		      MotionLink Revision History
                             Version: 4.4.8 
                        (previous version: 4.4.7)
                             January 28, 2004

1) Support for AKM resolver zero process added in feedback screen
2) Support for ZERO 2 added
3) Support for DISDELAY command added
4) Support for ANOUTVAL command added



		      MotionLink Revision History
                             Version: 4.4.7 
                        (previous version: 4.4.6)
                             October 30, 2003

1) Bug fix: In PCSCOPE screen double "None" option from recording variables was removed.
2) In PCSCOPE screen font for "Setup Record" was changed.


		      MotionLink Revision History
                             Version: 4.4.6 
                        (previous version: 4.4.5)
                             September 8, 2003

1) Support for extended motion buffer added (MIDISTX, MISPEEDX).
2) Support for PICO resolver in motor data base screen added.
3) Bug Fix: In feedback screen the arrow pointer was fixed.
4) Bug Fix: On init KMAPI32.DLL missing error was fixed.
5) Bug Fix: In Velocity loop screen the PI diagram was fixed.


		      MotionLink Revision History
                             Version: 4.4.5 
                        (previous version: 4.4.4)
                             June 18, 2003

1) For ENDAT feedback in backup screen warning displayed if MPHASE change requested.
2) In drive status screen support for wake no shake added.
3) Bug fix: Servostar CD was detected as Servostar S.


		      MotionLink Revision History
                             Version: 4.4.4 
                        (previous version: 4.4.3)
                             June 2, 2003
		     
1) CD-LITE:
	- Bug fix: Display SE03@25 instead of LE03@25
	- Bug fix: Drive configuration 30/90 amps instead of 3/9.
	- Bug fix: Six Step did not appear for MENCTYPE 10 
	- Bug fix: ML search for ANIN instead of ANIN1
	- Support for analog input 2 added

2) Serial communication:
	- Support for encoder simulation resolution 128 and 256 added.
	- Support for RESBW and SINPARAM for resolver added.
	- Bug fix: In Motor Data base screen MPHASE was always changed to 0 For MENCTYPE 9 (ENDAT) and HSAVE command was executed.
	- Support for ABSPOSMOD added
	- Support for MFBDIR added
	- Support for all INXMODE added

3) SERCOS:
	- Bug fix: ML does not recognize the drives feedback type. also bug in drive firmware (fixed in version 6.5.6)
	- Support for wake no shake added
	- Bug fix: Zero did not work
	- Bug fix: PFBOFF does not show correct value
	- support for SINPARAM and RESW added.
	- Bug fix: IZERO does not work in SERCOS
	- Support for all INXMODE added
	- Bug fix: In current limits screen the following fields do not show correct values MFOLDDIS,MFOLDD,MFOLDR,MFOLDT 

		      MotionLink Revision History
                             Version: 4.4.3 
                        (previous version: 4.4.2)
                             January 27, 2003
General Updates:
Added handeling of new firmware data



		      MotionLink Revision History
                             Version: 4.4.2 
                        (previous version: 4.4.1)
                             November 28, 2002

1)This version works with the new API files(API VERSION 3.1.4).

		      MotionLink Revision History
                             Version: 4.4.1 
                        (previous version: 4.4.0)
                             September 23, 2002
General Updates:

a)                  Motion Link serial
1.                              SININIT 
2.                              SININITST 
3.                              SINPARAM 
4.                              MENCTYPE 10 (Stegmann) 
5.                              ENCOUTMOD    
6.                              Calculation of encoder output resolution had been changed due to change in ENCOUTO and SININTOUT. 
 
b)                  Motion Link SERCOS
1.                              SININIT (IDN P225)  
2.                              SININTST (IDN P226)
3.                              SINPARAM (IDN P227)  
4.                              ZERO (IDN P57)
5.                              IZERO (IDN P45)
6.                              MENCTYPE 10 (Stegmann) 
8.                              PFBOFF (IDN P238)   
9.                              MFOLDDIS (IDN P231) 
10.                          MFOLDD (IDN P232)   
11.                          MFOLDR (IDN P233)    
12.                          MFOLDT (IDN P234)  
13.                          MFBDIR  (IDN P44 )
14.                          O1RST            (IDN P149)  
15.                          O1TRIG   (IDN P148)

Horrigan (new INxMODE and new O1MODE).
Support IN4, IN5, and IN6, including associated commands.
VEXT at analog out.
 
CD-Lite support

           

========================================================================






		      MotionLink Revision History
                             Version: 4.4.0 
                        (previous version: 4.3.6)
                             May 27, 2002
General Updates:
	o added a choice of up to 100 axes when in serial mode
        o made the stop buttons in bottom of screens use axis.driveon=0 instead of           axis.en=1
        o added possibility to quite mmotion link from window x button
        o fixed the "-" button to work properly in serial mode
        o added VBUS support for 540 , 680 vdc
        o increased MSINIT limit to 4096
        o added jog and move for the sercos mode
        o added a screen to show drive error and their time
        o added triger "immidiate" for sercos mode
        o added "NONE" for the graphing utility parameters choice
        o enable editting MSINIT parameter in various screens
        o enable detection of encoder when working via sercos
        

        o fix bug of "jump" when stoping step mode
        o fix bug axis connection choice problems
        o fix the graphing utility conversion of data problems
           

========================================================================
		      MotionLink Revision History
                             Version: 4.3.6 
                        (previous version: 4.3.5)
                             November 4, 2001
General Updates:
	o Added filter screen for Cd-Lite.
	o MENCRES 10 (six step) was added fo CD-Lite.
	o Asynchronous messages bug in TCPIP control in windows 2000 was fixed.
	o Electronic Data Sheet for DeviceNet was added.
	o Logaritmic scroll for parameters GV,GVI,KV,KVI was added.
	o AutoConfig tab was hided. AutoConfig tab availible only in debug mode. To enter
	  to debug mode run MotionLink with "/debug" parameter in command line.
	o Bug fix: ENCINIT status bug in SSSC was fixed.
	o Bug fix: Motor compensation bug in SC was fixed.
	o Bug fix: VMAX bug at Velocity limit screen was fixed.
	o Bug fix: MJ multiply by 1000000 bug was fixed.
	o Bug fix: In Backup screen MKTI bug was fixed.

========================================================================
                      MotionLink Revision History
                             Version: 4.3.5 
                        (previous version: 4.3.4)
                             October 17, 2001
General Updates:
	o Added new motor database.
	o Timeout for "SAVE" command was enlarged. 
	o Zeroing tab was added for encoder feedback.
	o Bug fix : KMAPI32.DLL error was fixed.
	o Bug fix : Wrong motor name for Cd-Lite.
	o Bug fix : Wrong Encoder tab caption in Feedback screen for Cd-Lite was fixed. 

========================================================================
                      MotionLink Revision History
                             Version: 4.3.4 
                        (previous version: 4.3.3)
                             July 9, 2001
General Updates:
	o Bug fix : MENCTYPE update for Cd-Lite

========================================================================

                      MotionLink Revision History
                             Version: 4.3.3 
                        (previous version: 4.3.1)
                             June 24, 2001
General Updates:
	o Bug fix : Scanning drive with PROMPT = 0

========================================================================

                      MotionLink Revision History
                             Version: 4.3.2 
                        (previous version: 4.3.1)
                             March 1, 2001
General Updates:
	o Bug fix : selecting drives connected with daisy chain
	o Bug fix : jog minus in tuning screen will jog in the other direction
	o Bug fix : relaymode configuration is stored into memory
	o Bug fix : Start Basic Moves when it is not installed in the default directory

========================================================================
                      MotionLink Revision History
                             Version: 4.3.1 
                        (previous version: 4.3.0)
                             February 26, 2001
General Updates:
	o Jog and Move procedures added to Pc-Scope screen

========================================================================
                      MotionLink Revision History
                             Version: 4.3.0 
                        (previous version: 4.2.9)
                             November 16, 2000
General Updates:
        o Bug fix: in Win95 "6:verflow error" was fixed
	o Bug fix: pressing "Stop" button after step procedure in SSMC will leave the stage at current position  
        o Bug fix: the Icon for Servostar Controllers was changed in communication screen 

========================================================================
                      MotionLink Revision History
                             Version: 4.2.9 
                        (previous version: 4.2.8)
                             October 19, 2000
General Updates:
        o Asynchronous messages support added
	o Bug fix: Start form will be shown in task bar
Terminal Screen:
	o SSSC,SSMC Send/Retrieve/UpgradeFirmware commands support added 
        o Copy - Paste support added
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.8 
                        (previous version: 4.2.7)
                             October 12, 2000
General Updates:
	o New measerment scale for SSSC implemented
	o CD Lite name is LE@ instead of CE@ in the main screen fixed
        o ANOFF1 bug for CD Lite fixed 
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.7 
                        (previous version: 4.2.6)
                             August 31, 2000
General Updates:
	o This version supports Servostar SC V0.0.22 and UCB V0.1.5 and higher.
          pervios versions of Servostar SC will not work correctly with this version.  
	o Majority of ML day bugs fixed.
        o Kollmorgen API setup 3.0.3 included.
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.6 
                        (previous version: 4.2.5)
                             July 30, 2000
General Updates:
	o SSSC Backup screen added. 
	o SSSC RAS communication improved.
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.5 
                        (previous version: 4.2.4)
                             July 10, 2000
General Updates:
	o New TCP/IP controller added.
	o Bug fix: Correct error messages will show up for SSSC.
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.4 
                        (previous version: 4.2.3)
                             June 28, 2000
General Updates:
	o Windows 2000 support added.
	o Bug fix: Windows 98 bode plot bug fixed.
	o Bug fix: SSSC load motor parameters bug fixed.
=========================================================================
                     MotionLink Revision History
                             Version: 4.2.3 
                        (previous version: 4.2.2)
                             June 15, 2000
General Updates:
	o Bug fix: Incorrect arrow position when large system fonts selected
	o HSAVE support added 
=========================================================================

                       MotionLink Revision History
                             Version: 4.2.2 
                        (previous version: 4.2.1)
                             June 7, 2000
General Updates:
	o Sine Encoder Support added
Encoder Output Screen
	o ZPOS support added
I/O Screen
	o added option inXmode 21 "Trigger MI or Jog, no lookahead" 
Position Limit Screen
	o added option PLIM 3 - "Stop and Hold Position When Limit are Reached,
          disable during homing"           
Motor Configuration Screen
	o Bug Fix : fixed incorrect SSSC values conversion.
=========================================================================
                       MotionLink Revision History
                             Version: 4.2.1 
                        (previous version: 4.2.0)
                             June 5, 2000
General Updates:
	o Installation script improved.

=========================================================================
                     MotionLink Revision History
                        Version: 4.2.0 
                    (previous version: 4.2.0 pre-release)
                             June 1, 2000

Genaeral Updates:
	o Bode plot bug fix
Main Display Screen:
	o Update Motor Data Base feature added
	o Update Motion Link feature added 
=========================================================================
                       MotionLink Revision History
                        Version: 4.2.0 pre-release
                        (previous version: 4.1.1)
                             May 14, 2000

IMPORTANT NOTE:
Version 4.2.0 pre-release is not intended for general use with all versions
of the ServoStar drive.  This version of MotionLink is being released to
provide support for features of the ServoStar SC during the pre-release
period of the SSSC product.  Again, do not use this version of MotionLink
with standard ServoStar drives.


Genaeral Updates:
	o Added support for ServoStar SC and special versions of ServoStar.
          Motion Link will recognize with what kind of drive you are working
          with and represent screens accordingly.
        o Strongly recommended not to use this version if not
          required to due to incomplete testing. 
	o Improved SERCOS Drive detection.

PC Scope Screen:
	o Added statistics calculations
	o Added scope cursor

Backup Screen:
	o Added #send filename command that allows you to send files with
          parameters to the drive.
	o Added #reset command that resets the text file ~script.dat.
	o Added #save filename command that copys ~script.dat to file.
	o Added #macro command that is not requiring from Drive to be disable.
	
=========================================================================
                       MotionLink Revision History
                             Version: 4.1.1
                        (previous version: 4.1.0)
                             January 20, 2000

General Updates:
        o Improved Endat detection scheme.

==========================================================================
                       MotionLink Revision History
                             Version: 4.1.0
                        (previous version: 4.0.5)
                             November 11, 1999

General Updates:
        o Made motor compensation selection easier.  Included some general
          enhancements and fixes.

Motor Configuration Screen:
        o Added support for DDR motors.

IO Screen, Drive IO Tab:
        o Added INxMODE 20:  Switch from OPMODE 1 TO OPMODE 4.

Feedback Screen, Encoder Init and Display Tab, Enc Start Tab:
        o Enhanced interface for Passive and Aggressive Encoder Initialization.

Velocity Screen, Advanced Pole Placement Tab:
        o Added a VFI selection box and a CONVERT button.


==========================================================================
                       MotionLink Revision History
                             Version: 4.0.5
                        (previous version: 4.0.4)
                              September 30, 1999

General Updates:
        o Changed Amplifier Description, displayed on several forms, for Sine
          Encoders from an E to a B.  For Example:  For a CD with Sine Encoder
          Feedback the Amplifier Description would be CBXX@XXX volts.

        o Added 6SM Motor File for 6SM Motors.

IO Screen, Encoder Output Tab:
        o Added Marker Pulse Offset.  The user can select an offset for
          the Marker pulse on the Encoder Output.

IO Screen, Drive IO Tab:
        o Added Inversion checkboxes next to the Digital Inputs
          mode selectors.  If the user checks this box the
          corresponding Digital Input will be inverted.

        o Added O1MODE 11: Encoder Initialization Complete option to the
          Digital Output mode selector.

        o Added ANOUT 9: Velocity Compensator Output option to the Analog
          Output Source mode selector.

IO Screen, Travel Limits Tab:
        o Added support for expanded DIR argument list.

        o Added DIR support for SERCOS drives.

        o Added validation checks for the DIR argument.  DIR can be set
          improperly in the Terminal screen on an Analog Drive.

Feedback Screen:
        o Added support for MFBDIR command.  The User can select from:
          Normal Commutation, Normal Velocity Direction
          Inverted Commutation, Normal Velocity Direction
          Normal Commutation, Inverted Velocity Direction
          Inverted Commutation, Inverted Velocity Direction.

        o Added support for Motor DIR for SERCOS Drives.

Feedback Screen, Encoder Init and Display Tab, Enc Start Tab:
        o Added options for Passive and Aggressive Encoder Initialization.

Feedback Screen, Encoder Init and Display Tab, Enc Type Tab:
        o Added the following to Encoder selections:
                MENCTYPE 7 (Sine encoder - A/B/Z, C/D)
                MENCTYPE 8 (Sine encoder - A/B, C/D)
                MENCTYPE 9 (Endat Sine Encoder)

        o Rearranged option buttons to allow room for added MENCTYPEs.  Now
          description of MENCTYPE appears in textbox at the bottom of the Tab
          when the user selects a MENCTYPE.

Feedback Screen, Encoder Init and Display Tab, Enc Init Tab:
        o If the user has selected MENCTYPE 9: Endat Sine Encoder then this tab
          will now present the user with a Zeroing command button and a textbox
          to set the Zeroing current to help with Endat Encoder Initialization.

Feedback Screen, Resolver Zero and Display:
        o Changed Feedback Dial Image to match the Encoder Init Feedback Dial
          which has higher resolution.

        o Bug Fix: Fixed the image flicker that happened as the user turned the
          motor.

Motor Configuration Screen:
        o Added VBUS selection to the "To Drive" button.  After the user hits
          the "To Drive" button MotionLink will download the motor compensation
          file and then prompt the user for the correct VBUS setting.  If the 
          compensation file is sensitive to the VBUS setting then VBUS will
          default to the correct value and if the user still selects the
          "wrong" setting he is presented with a warning message concerning
          performance.

        o Added functionality to select more than one compensation file for a
          particular Drive/Motor combination.  When the user selects a
          particular motor the program will determine if there is more than
          one compensation file, is so the program will display the available
          choices for the user to select from.

        o Bug fix: fixed incorrect data from being entered into the Motor
          Parameter edit boxes when the user clicked on an empty Motor
          Parameters list.

        o Bug fix: when the user tries to download a motor compensation file
          with the drive enabled.  The program will prompt the user to disable
          the drive.  If the user chooses not to disable, the program will
          cancel the download of the motor compensation file.

Position Screen, Position Limits:
        o Changed DIR interface to match other DIR interfaces found in the
          program elsewhere.  Functionality remains the same.

PC Scope Screen:
        o Added support for Bode Add-On application.  If Add-On is installed
          on user's computer an extra tab will be presented exposing all
          Bode features and a button to execute the Bode Add-On.

        o Bug fix: Record setting will be remembered after the user returns
          from the Terminal screen.

==========================================================================
                       MotionLink Revision History
                             Version: 4.0.4
                        (previous version: 4.0.3)
                              August 4, 1999


Install Script:
        o Bug fix:  Eliminate IRQ conflict with some Windows 95/98
          drivers (eg. some sound drivers).

Motor Configuration Screen:
        o Updated motor config screen for ease of editing user configurable
          motor files.


==========================================================================
                       MotionLink Revision History
                             Version: 4.0.3
                        (formerly version: 4.0.2)
                              July 26, 1999


Communications Setup Screen:
	o Bug fix:  program will now load the proper help screen if
	  the Com Setup screen is entered from the Start Screen in
	  the Sercos version.

PC Scope Screen:
	o The program will now cancel an active Record command before
	  trying to Auto-Tune when the Auto-Tune button is clicked.

General Updates:
	o Bug fix:  program will now unload the "Please Wait" box
	  under Windows NT.

Main Display Screen:
	o Fixed a problem with calling Notepad to load the MotionLink
	  revision history (Help - ML Revision History menu selection).
	  Program will now find Notepad regardless of what the Windows
	  subdirectory is, even in Windows NT.

Motor Configuration Screen:
	o Decreased the screen memory requirements and increased the
	  program speed by using a Microsoft FlexGrid control to display
	  motor data.

	o Clicking cancel on a parameter download will now cancel the
	  download operation.


==========================================================================
                       MotionLink Revision History
                             Version: 4.0.2
                        (previous version: 4.0.1)


General Updates:
	o Fixed a problem with the installation routine that was causing
	  some OCX's to not replace older versions that had more recent
	  time and date stamps.  This resulted in fatal "Unexpected Error"
	  messages when attempting to run the program.


==========================================================================
                       MotionLink Revision History
                             Version: 4.0.1
                        (previous version: 4.0.0)

Main Display Screen:
	o For SERCOS systems, when the Device Select box is clicked, the
	  program will prompt the user to go to Phase 4 only if the SERCOS
	  phase is below 2 (previously, if the phase was not equal to 4,
	  the user would be prompted).

	o Operation Mode list box:  added a pop-up tag showing the OPMODE
	  number and (if applicable) the COMPMODE number to the list box.

	o Added the Monitor Screen display to the SERCOS version of
	  MotionLink.  The Monitor Screen can now be accessed from the
	  toolbar on the main display.


Monitor Screen:
	o Reformatted the display slightly and added min/max display
	  capabilities for the selected variable.

	o Added a Help button for quick help on how this display works.


PC Scope Screen:
	o Updated the controls on the Vel. Gains and Posn. Gains tabs to
	  different controls that are able to handle the newer, larger
	  values of KV and GV better.

	o Changed the Velocity Control Loop option buttons to a drop-down
	  list box.

	o Setup Motion tab:  if the user selects Incremental Move as the
	  motion, a Toggle Direction button can now be used to negate the
	  Distance value quickly.

	o Setup Motion tab:  added the ability to set the value of PROFMODE
	  and PROFSCRV.

	o Vel. Gains tab:  fixed a bug that was causing values of PI Loop
	  Gain (GV) and PDFF Loop Gain (KV) value to jump when the control
	  was clicked.


I/O Screen:
	o Encoder Output tab:  fixed a bug that was causing the last two
	  resolution option buttons to not change their values when the
	  Units were changed.

	o Drive I/O tab:  RELAY OUT display is now updated when the tab is
	  clicked.


Feedback Screen:
	o Clarified operation of this screen by adding notes to the Init
	  Encoder and Find Marker buttons, increasing the descriptions of
	  the encoder type buttons, and adding more text to the Encoder
	  Marker and Initialization Check instructions.


Terminal Screen:
	o If the system is a SERCOS system, and the user attempts to select
	  a SERCOS axis, he is now informed that that selection is not valid.



==========================================================================
                       MotionLink Revision History
                             Version: 4.0.0
                        (previous version: 3.2.1)

General Updates:
	o Deleted Control Loops Screen and Limits Screen.  Incorporated their
	  functions into three new screens:  Position Limits and Loops Screen,
	  Velocity Limits and Loops Screen, and Current Limits and Loops
	  Screen.

	o Changed the color mapping of the entire program.  Previously,
	  MotionLink was a gray application.  It is now mapped to the
	  Windows color scheme selected by the user through the Windows
	  Control Panel.  Note that for the Windows Standard color scheme,
	  this results in buttons and labels having a different color than
	  the background.  For other custom color schemes, the button
	  color matches the background color.

	o "Flattened" all buttons throughout the program to give them
	  a Windows 95 appearance.

	o Changed fonts on all buttons, frames, labels, etc. to non-bold.

	o Reorganized the bottom of each screen to make the appearance and
	  location of the buttons identical from screen to screen.

	o Changed Exit button captions on sub-screens to "Close."

Main Display Screen:
	o Eliminated the LED-type opmode number display (serial only).

	o Added a feature that will "kill" the drive if the user presses
	  F9.  The functionality is identical to clicking the red Stop
	  button.  The Stop button ToolTipText was altered to include
	  pressing F9 as an option for stopping the motor.

	o Introduced a Windows 95/98-style toolbar at the top of the screen.
	  This new toolbar replaces and extends the old toolbar.

	o Changed the Axis, System, and Motion Enable/Disable buttons from
	  push buttons to radio (option) buttons.

	o Moved the Save to EEPROM button from the bottom of the screen to
	  the new toolbar at the top.

	o Deleted the Hold button.

	o Removed frames present around many of the controls to give the
	  program a cleaner appearance.

	o Removed the operation mode pushbuttons and replaced them with
	  a single Operation Mode list box.

	o Condensed the five status boxes in the upper right-hand corner
	  into two status boxes that show enable status and disable status.
	  Changed the legends slightly on each one.

	o Combined Limits and Loop buttons for all control loops into a
	  single button - for example, Position Limits and Position Loops
	  are now incorporated into a single Position button.  The Filter
	  button was deleted, and its functions are now incorporated into
	  a tab on the Velocity Screen.

	o Moved the Amplifier display box from the lower left-hand side
	  of the screen to a new location near the upper left-hand corner of
	  the screen.

	o Moved the I/O button from the old toolbar into the center of the
	  screen as a new "System I/O button."

	o Added a new Motor button below the motor graphic that, when clicked,
	  goes to the Motor Configuration Screen.  Moved the old Motor display
	  box to a new location near the upper right-hand area of the screen.

	o The Feedback Device button will now say "Resolver Properties" or
	  "Encoder Properties" in interactive mode, and will say "Feedback
	  Device" when the program is off-line.

	o Relocated the Device Select box to the bottom of the screen
	  (serial versions only).

	o Reorganized the main screen such that it shows all three of the
	  Profile Generator, Analog Input, and Gearing buttons at the same
	  time.  Only one button is enabled at a time.  The two buttons
	  which are not enabled are grayed out.  The button which is enabled
	  has a line that connects it to the signal flow of the main display
	  control loop graphic.

	o Updated the Encoder Output button icon.

	o Deleted the "Help - Tips Enabled" menu item.  Tool tips are now
	  controlled by Windows, not MotionLink.

	o Reorganized the menu - under Configure, the old "Limits" selection
	  was replaced by Current Limits, Velocity Limits, and Position Limits.
	  Under Tune, the old "Control Loops" selection was replaced by
	  Current Loop, Velocity Loop and Filters, and Position Loop selections.
	  Based on what opmode the drive is in, some of these selections may
	  be hidden from view.

PC Scope Screen:
	o Fixed a problem that was causing the screen to crash upon entry
	  if VLIM was less than 100 (Sercos and serial).

	o Fixed a problem that was causing data with very little variation
	  to not get plotted.

	o Position Gains tab: changed the range of the Acc. Feedforward #2
	  (GPAFR2) text box and slide bar to (-10,000 to +10,000) for
	  firmware versions 3.2.1 and later.  For older versions of
	  firmware, the range will still be 0 to 2000.

	o Setup Record tab:  "Stop Motion After Record" option is now saved
	  when this screen is exited.  It is also remembered from one
	  program session to the next by saving it in the SSMLW.INI file.

	o Setup Motion tab:  Added Acceleration (ACC) and Deceleration (DEC)
	  entry boxes to this tab.

	o Velocity Gains tab:  deleted the Control Loops button.  Added "Active
	  Control Loop" option buttons to change the value of COMPMODE right
	  there on the screen without having to change to another screen.  Also
	  added "Velocity Feedback Low Pass Filter" buttons for setting the
	  value of COMPFILT.


Command Generator (Profile Generator) Screen:
	o Added Save to EEPROM button.

	o Redefined and corrected Homing Types (HOMETYPE’s).  Added
	  HOMETYPEs 4-7 and introduced one-click help on HOMETYPE.

	o Homing tab:  added a "Return-to-home speed" text entry box that
	  enables the user to set the value of MISPEED0 for defining the
	  return-to-home speed option.

	o Accel/Decel Settings tab:  added the "S-curve" profile mode
	  option (PROFMODE=2), including an "S-curve" text box that enables
	  the operator to enter the value of PROFSCRV, which defines the
	  S-curve percentage.  This option is now shown if the drive is
	  a Sercos drive, because Sercos does not support PROFMODE=2 yet.

Feedback Screen:
	o Modified the "Tool tip Text" on the Encoder Resolution text entry
	  box to reflect a lower limit of 1 for MENCRES.

	o Disabled the "Halls Only" (MENCTYPE=5) encoder type option.

	o To accommodate changes in the ENCSTART procedure, changes were made
	  such that when the Enc Start tab is clicked, a different set of
	  instructions is shown in the Encoder Initialize box.

	o Added a new Status button to the Enc Start tab (this button is
	  shown only for firmware versions 3.3.0 and later).

	o Disabled the Sine Encoder Multiplier text entry box for firmware
	  versions other than 3.2.0.

	o Added Auto-Config tab to support new Auto-Config feature.  This
	  tab is not shown if the drive is a Sercos drive.

	o The "Resolution" value on the Resolver tab is now updated when the
	  "Poles" value is changed.

Command Input (Analog Input) Screen (serial drives only):
	o Activated the Analog Scaling tab for analog positioning (Opmode
	  8) and placed controls for setting GEARI and GEARO on the tab,
	  so the user can use GEARI and GEARO to scale the analog input.
	  The user can now type in values for GEARI and GEARO, and the
	  tab will use those values to compute and display gear ratio,
	  counts of movement per 20V of input, and shaft revolutions
	  per 20V of input.

	o Added an Accel/Decel Settings tab that can be viewed opmodes
	  1, 4, and 8, since acceleration parameters are relevant to those
	  operation modes.

	o The External Encoder Resolution and External Encoder Direction
	  displays are no longer shown on the Gearing tab, as they have no
	  relevance to Gearing mode.

	o Added a new Homing tab to support homing functions in analog
	  positioning opmode.  The new Homing tab includes all new HOMETYPE
	  values, and a normalize/don't normalize option for selecting
	  HOMETYPES 0-7 or 50-57.

Position Loop and Limits Screen:
	o Position Loop tab: changed the range of the Acc. Feedforward #2
	  (GPAFR2) text box and slide bar to (-10,000 to +10,000) for
	  firmware versions 3.2.1 and later.  For older versions of
	  firmware, the range will still be 0 to 2000.

	o Bug fix on the Position Limits tab:  MotionLink was not retrieving
	  and displaying PEMAX properly (Sercos and serial).

Velocity Loops and Limits Screen:
	o Updated the GV and KV variables to upper limits of 1,000,000,000.
	  Important usage NOTE:  the slide bar loses resolution in this
	  instance, and some values desired by the user, including all values
	  below 32767, will have to be typed in the text box.

Current Loop and Limits Screen:
	o Added Motor Foldback variables to Foldback tab (serial only).

	o Fixed the display of the FOLDTIME entry box.  It was previously
	  not properly keyed to firmware version number, and it was being
	  displayed for drives that did not support it (Sercos and serial).

Motor Configuration Screen:
	o When a linear motor is selected on either the Motor Database or
	  User Defined tab, the Resolver tab is hidden from view.  On the
	  User Defined tab, the value of MRESPOLES is automatically set
	  equal to 2.

	o Changed the motor parameter download procedure such that the
	  values of ILIM, VLIM, and VOSPD are now set before a drive
	  CONFIG command is issued.  Previously, the CONFIG was done
	  before the values of those variables were set, but this led
	  to problems with the drive being unable to execute the CONFIG
	  due to low VLIM values.

I/O Screen:
	o Added the ability to set the value of PSCALE to the "Analog
	  Output Source" display.  This entry box is shown only if the
	  user selects "Posn Following Err" or "Position Feedback" as
	  the analog output.  (serial only)

	o Added O1MODE=9 (Trig Level < PFB < Reset Level) to Digital
	  Output Function list box (serial only).

	o Modified O1MODE list box so that for Sercos drives, it only
	  shows the three valid options.  It was previously showing all
	  possible options for O1MODE, many of which are not valid for
	  Sercos drives.

	o Expanded Encoder Output options on Encoder Output Screen to
	  show values of 8192 and 16384 for ServoStar firmware versions
	  that support those settings (serial only).

	o Added a frame captioned "Velocity Buffers for Triggering a Jog."
	  This frame contains controls and displays for implementing the
	  "velocity buffer" feature found in firmware version 3.3.0 and
	  later.  This frame of controls is shown only if the opmode is
	  Analog Velocity, and the firmware version is 3.3.0 or later.
	  (serial only).

	o Updated the Encoder Output tab to incorporate the new SININTOUT and
	  ENCOUTO variables, as well as the new method for determining the
	  encoder output resolution for encoder-based and sine encoder-based
	  systems.  On the sine encoder based system, a list box control for
	  selecting MSINFRQ (burst overflow) is provided.

	o Extensively revamped the Drive I/O tab to depict the drive I/O
	  connector C3.  The Analog Output source selection is now a drop-
	  down list box, and based on what the operator selects, the user
	  can enter the associated scaling parameter ISCALE, VSCALE, or
	  PSCALE.  The user can now also view ANIN, RELAY, and REMOTE on
	  this screen, and can access other screens for configuring the
	  operation of the analog input (ANIN) and the fault relay (RELAY).

Backup Screen:
	o Deleted "Find" menu and placed its functions under the Edit menu.

	o Changed the "OK" button on the Find dialog box to "Find."

	o Changed the Find dialog box such that if the Find text is blank,
	  the Find button is disabled.

	o When the operator attempts to save the data to a file that
	  already exists, the program will now prompt the user to verify
	  the save.

Terminal Screen (serial only):
	o Added error handling into the routines that handle "Cancel"
	  selection from the Font Settings dialog boxes.

Monitor Screen:
	o Extensively revamped into new format.

Operation Mode Configuration Screen:
	o Updated the screen to a combo box setup similar to the new one
	  on the main screen.

Communications Setup Screen (serial drives):
	o Fixed a bug that was causing the COM port settings to be improperly
	  displayed on the Com Setup Screen.

	o Added a note specifying that ECHO, PROMPT, MSG must all be
	  set to 1, and ACKMODE must be set to 0 for MotionLink to
	  function properly.

	o Added a new Apply button that will apply the selected settings when
	  clicked, without exiting the display.

New Amplifier Start-up:
	o Added a Feedback button to this screen.  The routine will now
	  cycle through the Feedback Screen, which gives the user a
	  chance to use the new Auto-Config tab.

About Screen:
	o The About Screen now unloads itself automatically when it is
	  displayed as the program loads.

Status Screen:
	o Updated the fault detection algorithms to bring them up to date
	  with the STATUS and STATUS2 fault words as of firmware version 3.3.0.

Sercos Version Enhancements:
	o Main Display Screen:  added a "Drive Controlled Profiles" button
	  that accesses a sub-screen that gives the operator access to
	  the drive-controlled Step command, and Acc/Dec values in the
	  drive.

	o PC Scope Screen:  when I, IA, IC, and ICMD are recorded, they
	  are now displayed in amps.


==========================================================================
                       MotionLink Revision History
                             Version: 3.2.1
                        (previous version: 3.2.0)


GENERAL COMMENTS:
MotionLink version 3.2.1 contains a small fix regarding the handling of
Motor Encoder Type (MENCTYPE) on the Feedback Screen and Motor
Configuration Screen.


Motor Configuration Screen:
	o Added MENCTYPE=6 to the Encoder tabs on the Motor Database and
	  User Defined tabs.  MotionLink now allows the operator to set
	  and retrieve Encoder Type=6 from this screen.

Feedback Screen:
	o Fixed a small bug that was not retrieving or setting Encoder
	  Type=6 properly.


==========================================================================
                             version: 3.2.0
                        (formerly version: 3.1.0)
                             TXT=README.TXT
GENERAL COMMENTS:
MotionLink version 3.2.0 supports the release of version 3.2.0 firmware
for the ServoStar servoamplifier.  MotionLink 3.2.0 supports the analog
positioning opmode (OPMODE=8 and PCMDMODE=1, with the auxiliary variable
PSCALE).

========================================================================

Main Display Screen:
	o Added Position Cmd list box that enables the operator to set
	  the value of PCMDMODE by selecting "Analog" or "Serial."  This
	  switches the system between analog and serial position opmodes.

Command Input Screen:
	o Added Position Scaling capabilities to the Analog Scaling tab.
	  This enables the operator to set the value of PSCALE.

I/O Screen:
	o Added "Position Feedback" to the Analog Output Source options
	  and deleted the "Horsepower Meter" options.

	o Added the new O1MODE=9 setting (O1TRIG < PFB < O1RST) to the
	  Digital Output section, and reconfigured the O1RST and O1TRIG
	  controls to support it.

Note:  there are some features in the ServoStar that are not supported by
this version of MotionLink:

1.)  Motor foldback (MFOLD, MFOLDD, MFOLDR, MFOLDT, MFOLDDIS)
2.)  New homing types (HOMETYPE = 4 or 5)

To use these features, set the values of the applicable variables using
the Terminal Screen.


==========================================================================
                             version: 3.1.0
                        (formerly version: 3.0.2)
                             TXT=README.TXT

Profile Generator Screen:
	o Activated new tabs on this screen:  Immediate Moves, Preset/
	  Triggered Moves, and Homing.  These new tabs support Opmode 8
	  features (MA, MI, homing, etc.).

	o Accel/Decel tab:  if the firmware version is 3.1.0 or later, the
	  range for acceleration and deceleration is displayed as 10 to
	  400,000.  For earlier firmware, the range will be shown as 1 to
	  399,987.

	o Accel/Decel tab:  added the capability to set the value of ACTFAULT
	  using new Active Fault Mode option buttons.

Control Loops Screen:
	o Position Loop tab:  implemented new slide bar/text box
	  combinations for setting integral gain (GPI), derivate gain (GPD),
	  and feedforward terms (GPAFR, GPAFR2, and GPVFR).  Note that
	  if the firmware version is 2.1.0 or 2.1.1, a very simple
	  position loop diagram showing only GP will be displayed.

	o Incorporated integrator limit boxes for setting GPISATIN and
	  GPISATOUT.

	o Added VF to the Advanced Pole Placement tab display.  It will
	  not be shown if the drive firmware version is earlier than
	  version 3.1.0.

	o Cleaned up the control loop diagrams to be more consistent.
	  Current limits are now shown on the Current Loop tab only.
	  They were previously referenced on the Velocity Loop tabs as
	  well, and that has been removed.

Feedback Screen:
	o Added sine encoder support on the Encoder tab for setting the
	  value of MSININT.  If the feedback type is detected as Sine
	  Encoder, then the Sine Encoder Multiplier (MSININT) display
	  will be shown.

	o "Halls only" encoder type (MENCTYPE=5) selection is now grayed out,
	  indicating that it cannot be selected.

	o Fixed a small bug that was causing the hourglass cursor to remain
	  present during encoder initialization after a motor parameter
	  download.

Limits Screen:
	o Fixed a problem with the current limits tab - Limit 2 (ILIM2) is
	  now getting loaded properly when the tab is accessed.

	o Renamed the Low Pass Filters tab to just "Filters."  Added the
	  new FILTMODE 3 setting (notch filter) to the tab and added the
	  capability of setting the notch filter frequency (NOTCHHZ) and
	  bandwidth (NOTCHBW) to the tab.

	o Position Limits tab:  reorganized the Hardware Position Limit
	  (limit switch) and Position Error Settings areas.  Added a new
	  Software Position Limits frame for setting PLIM, PMIN, and PMAX.

Record Screen:
	o Position Gains tab:  implemented slide bar/text box combinations
	  for setting GPD, GPI, GPAFR, GPARF2, and GPVFR.  These will only
	  be shown if firmware version is >= 3.1.0.

	o Motion Command Setup tab:  will now show an MA/MI command option
	  if the firmware version is >= 3.1.0.

Tune Screen:
	o Position Gains tab:  implemented slide bar/text box combinations
	  for setting GPD, GPI, GPAFR, GPARF2, and GPVFR.  These will only
	  be shown if firmware version is >= 3.1.0.

	o Filters tab:  added FILTMODE=3 (notch filter) capability.  Also
	  added Notch filter frequency (NOTCHHZ) and bandwidth (NOTCHBW)
	  controls.

I/O Screen:
	o Thermostat tab:  added support for the new THERMODE settings
	  (THERMODE = 4 and 5), as well as THERMTIME and THERMTYPE.  These
	  will only be shown if firmware version is >= 3.1.0.

	o Drive I/O tab:  deleted the "User Variable" and "Triangle Wave"
	  options from the Analog Output Source selections.  These two
	  selections corresponded to ANOUT = 6 and 7, which are factory-use
	  functions only.

	o Drive I/O tab:  added O1MODE=10 option for firmware versions >= 3.1.0.

	o Drive I/O tab:  added all INxMODE options for drive firmware >= 3.1.0.

	o Encoder Output tab:  changed units from "Lines/revolution" to "Lines
	  per electrical revolution of the resolver."

Status Screen:
	o Fault modes tab:  reformatted the Under Voltage display and added
	  support for new UVMODE and UVTIME variables.  These new displays 
	  will only be shown if firmware version is >= 3.1.0.

	o Drive Status tab:  incorporated changes to provide full support for
	  decoding STATUS and STATUS2 data words.

Monitor Screen:
	o Added the capability for monitoring PCMD.  Available only for
	  firmware versions >= 3.1.0.

Terminal Screen:
	o Incorporated some changes which should make the Terminal Screen
	  operate better on slower computers.

Motor Configuration Screen:
	o After a motor parameter download, ILIM is now set equal to IMAX.
	  In previous version, ILIM was getting set to 1000, which in some
	  cases exceeds IMAX, so the value of 1000 would not be accepted.

	o Fixed a small bug that was causing the mouse cursor to stay in
	  an hourglass shape when the Feedback Screen was called after a
	  motor parameter download.


==========================================================================
                             version: 3.0.2
                        (formerly version: 3.0.1)
                             TXT=README.TXT

Motor Configuration Screen:
	o Added code to the end of a motor parameter download that sets the
	  values of ILIM (to 1000), VLIM (to VMAX), and VOSPD (to 1.2 * VMAX).
	  Previously, in MotionLink version 3.0.0, this was accomplished by
	  executing a RSTVAR at the end of a download, but this caused prob-
	  lems with linear motors by causing VLIM and VOSPD to be set to
	  high, out of range values.

	  With MotionLink version 3.0.1, the RSTVAR was deleted, but this
	  also caused a problem, because it meant that ILIM, VLIM, and VOSPD
	  could wind up out of range.  So, for this version, code was inserted
	  to set ILIM, VLIM, and VOSPD to their default values.  This code was
	  incorporated into the downloads on both the Motor Database and User
	  Database tabs.

Editor Screen:
	o All controls will now return focus to the editor space after being
	  clicked.

Terminal Screen:
	o In cases where communication has not been established with a drive,
	  it is now possible to put the Terminal Screen in interactive mode
	  without having to scan for drives (the program will now ask before
	  scanning.


==========================================================================
                             version: 3.0.1
                        (formerly version: 3.0.0)
                             TXT=README.TXT

General Updates:
	o Program now saves the last motor graphic that was displayed and
	  will show that graphic on startup.

	o Removed range checking for most text entry boxes in the program.
	  Previously, operator input would be limited to the displayed min
	  and max that were associated with a text entry box.  Now the
	  displayed min and max values are for reference only and are not
	  used to limit operator input.

	o The "Linear Calculate" button that shows up on a number of screens
	  is now hidden if the drive firmware version is 2.1.0 or later
	  (those firmware versions support linear units, and a linear unit
	  converter is not necessary).

Main Display Screen:
	o Added a "Goldline XT" motor selection to the Options menu (avail-
	  able in Off-line/Demo mode only).

	o Added a "MotionLink Revision History" selection to the "Help"
	  menu that calls up this file for viewing by the user.

Feedback Screen:
	o The tag on the "Amplifier" Encoder Resolution box is now sensi-
	  tive to the amplifier firmware version and will display different
	  ranges for different firmware versions.

	o Added encoder type "A/B/Halls" (MENCTYPE=6) to the Enc Type tab.
	  Changed Halls only tag (MENCTYPE=5) to indicate that it is
	  reserved for future use.

IO Screen:
	o Added O1MODEs 9 and 10 to the dropdown list box on the Drive I/O
	  tab.

Motor Configuration Screen:
	o Altered transmission sequence of values such that MPITCH ("Pole
	  Pitch" on the encoder tab) applicable is the first parameter sent
	  out (but only if the motor is a linear motor - if the motor is
	  not a linear motor, then MPITCH is not transmitted).

	o Added a function that will automatically adjust drive variables
	  in the event that a linear motor parameter download results in
	  a failure to CONFIG.  The values of VLIM, VOSPD, VSCALE, O1RST,
	  ACC, and DEC are manipulated by MotionLink until the drive
	  configures successfully.

	o Made the "Motor Family" field on the User Database tab an editable
	  field (previously could not edit this field).

	o When transmitting motor parameters to the drive (using a "To Drive"
	  button), a RSTVAR is now executed after the download ONLY IF the
	  drive firmware is older than V2.0.0.  Previously, RSTVAR was always
	  executed.

Status Screen:
	o Drive Status tab:  updated this tab with the latest STATUS variable
	  information.  Added new STATUS2 variable information to the info
	  displayed in the large status box to the right.

	o Drive Status tab:  corrected the mapping of STATUS Word 3.

	o Fault Modes tab:  the Dynamic Breaking Current Level Default button
	  will now set the current level equal to half of max value, instead
	  of the max value (sets ISTOP equal to half of IMAX, instead of
	  IMAX).

Terminal Screen:
	o Restored "Last Command" functionality to the F3 key.  If the F3
	  key is not programmed, it will recall the last command when pressed.

Control Loops Screen:
	o Corrected the range on the Position Loop (GP) controls on the
	  Position Loop tab.

Help File:
	o Corrected and updated the following Glossary entries:
	  ACC, ACTFAULT, ADDR, ANDB, ANLPFHZ, BW, COMPFILT, COMPMODE, DEC,
	  DECSTOP, DIP, DISSPEED, DISTIME, FILTMODE, GEAR, GEARI, GEARO,
	  GEARMODE, GP, HWPOS, ILIM, INPOS, J, LMJR, MBEMF, MBEMFCOMP,
	  MENCRES, MJ, MLGAINC, MLGAINP, MLGAINZ, MOTORTYPE, MPITCH, MPOLES,
	  MRESPOLES, MSPEED, O1RST, O1TRIG, PE, PEINPOS, PEMAX, PEXT,
	  PEXTOFF, STATUS Word 3, STEP, TF, TUNE, UNITS, V, VCMD, VE, VEXT,
	  VLIM, VMAX, VOSPD, VSCALE, and XENCDIR.

	o Created Glossary entries for the following variables:  STATUS2,
	  STATUS2 Word 1-Word 4.


==========================================================================
                             version: 3.0.0
                        (formerly version: 2.5.0)
                             TXT=README.TXT

General Changes
========================
This version of MotionLink (V3.0.0) supports new functions
introduced in drive firmware version 2.1.0.  These functions include:

1.  Gearing (OPMODE=4) and associated variables:  GEAR, GEARI, GEARO,
    GEARMODE, PEXT, PEXTOFF, XENCRES, and XENCDIR.

MotionLink presents a new Gearing opmode button on the main
display screen and has new subscreens to support the entry of gearing
parameters.


2.  Position loop with loop gain GP to support Gearing, plus INPOS, PE,
    PEINPOS, and PEMAX.

The position loop parameter GP can be set using the new Position Loop
button on the main display screen.


3.  Current loop gains IFRIC and IGRAV.

The current loop gains can be set using the new Current Loop button on
the main display screen.


4.  User I/O (also called Drive I/O):   IN1, IN2, IN3, IN1MODE,
    IN2MODE, IN3MODE, O1, O1MODE, O1RST, O1TRIG, and ANOUT.

The I/O Screen has a new "Drive I/O" tab which provides controls for
configuring the User I/O functions.


5.  Linear motor support (MOTORTYPE=2).

The Motor Configuration Screen has been extensively updated to support
the entry of linear motor parameters.  A new linear motor database
(LINEAR2) has been created and supplied for linear motor support.


6.  New COMPMODE=4 and COMPFILT variable.

The new velocity loop compensation mode COMPMODE 4 can be set using the
Standard Pole Placement tab on the Control Loops Screen.  The new
COMPFILT variable can be set from nearly every tab on the Control Loops
Screen.


8.  Dynamic breaking (ISTOP and STOPMODE).

Dynamic breaking is supported by new controls on the Fault Modes tab on
the Status Screen.


Modifications
========================
General Modifications:
	o Changed old "Local Mode" terminology to new "Off-line"
	  terminology throughout the program.

Communications Settings Screen:
	o Removed the Status displays for ECHO, PROMPT, MSG, and ACKMODE.

Command Generator Screen:
	o Enhanced this screen to support linear motors by presenting
	  velocity and acceleration parameters in linear units.
	o Added the capability to set new variables Active Disable Speed
	  Threshold (DISSPEED) and Active Disable Delay Time (DISTIME).

Command Input Screen:
	o Added the capability to set the new variable Analog Input Filter
	  Frequency (ANLPFHZ).
	o Added a new Gearing tab to support Gearing opmode.

Feedback Device Screen:
	o Added displays for Position Feedback and Position Feedback
	  Offset to the Resolver tab and the Encoder tab.
	o Added a new option for Halls only (MENCTYPE=5) to the Enc Type
	  tab.

I/O Screen:
	o Added a new Drive I/O tab for configuring and viewing the new
	  Drive I/O functions:  IN1, IN2, IN3, IN1MODE, IN2MODE, IN3MODE,
	  O1, O1MODE, O1RST, O1TRIG, and ANOUT.

Limits Screen:
	o Added a new Position Limits tab for configuring travel limit
	  switches and new position error functions PEINPOS and PEMAX.

Control Loops Screen:
	o Added Position Loop tab for configuring new position loop gain GP.
	o Added Current Loop tab for configuring new current loop gains
	  IFRIC and IGRAV.

Main Display Screen:
	o Added a Gearing opmode button for setting OPMODE=4.
	o Added Position Limits and Position Loop buttons for configuring
	  new position loop parameters related to Gearing.
	o Added Current Loop button for accessing Current Loop tab on
	  Control Loops Screen.
	o Added Save button for saving drive configuration to EEPROM.

Monitor Screen:
	o Added the capability to view new parameters PFB (Position
	  Feedback), PE (Position Error), and PEXT (External Position
	  Command).

Motor Configuration Screen:
	o Extensive formatting changes.  Reorganized the screen into a
	  single-column display, with variable units displayed for clarity.
	o Added a MotorType button for displaying and setting the
	  MOTORTYPE variable (for linear motor support).  Clicking the Motor
	  Type buttons will change the displayed units from rotary to linear
	  units and back again for affected parameters.
	o Added a "Convert Linear to/from Rotary" button to the User
	  Defined tab to allow the user to convert rotary entries to linear
	  entries and vice versa.

Record Screen:
	o Added a Position Gains tab for setting the value of GP.
	o Fixed a bug that was causing the program to ignore the user's
	  Record Trigger settings and issue an immediate trigger, instead.
	  The user's Record Trigger settings are now used.

Scan Drives Screen:
	o Enhanced it for the capability of scanning for 32 drives instead
	  of just 16 (new drive firmware supports 32 drives).

Start Screen:
	o Enhanced and reorganized for clarity.

Status Screen:
	o Added Dynamic Breaking settings (ISTOP and STOPMODE) to the
	  Fault Modes tab.

Terminal Screen:
	o Significantly enhanced and upgraded.
	o Added the capability to set the foreground color, background
	  color, and display font.
	o Added cut, copy, and paste functions.
	o Added Print capability.
	o Added the capability to display data in different modes:  ASCII,
	  Hex, etc.
	o Added programmable function key capability for issuing
	  frequently used commands by pressing function keys on the
	  keyboard.

Tune Screen:
	o Added a Position Gains tab for setting the value of GP.