---------------------------------------------------- -- Firmware Changes between Ver1.50 and Ver1.40 -- ---------------------------------------------------- 1) Polarity option for the DIS motor control line. This is provided for motor drivers that might expect the DIS signal to be asserted LOW. 2) Analog motor position feedback (optionally replaces optical encoder) for suitable applications. 3) Pot Servo Mode (POTSVO) added. 4) R/C Servo Mode (RCSVO) added. 5) Addition of an optional digital filter that may be applied to any of the analog input signals. This is a configurable, single stage, recursive, low pass filter. 6) Decimal option for position and velocity outputs in TE Mode. 7) New option for over current response provides for immediate power removal and complete motor interface disable. 8) Low power mode option. 9) Code for PotC & PotF operation previously in PIC Assembly, is now mostly in C-Language, providing better user visibility to these operating modes. 10) Change to Cmd U (DispStat) now returns 6 bytes instead of 5 bytes in API and I2C2 Modes. Over current setting is now shown in TE Mode. 11) Parameter Block Reorganized and new stuff added: a) new SYSMODE, DMAX, MODE3, FENBL, DECAY b) bits in MODE2 moved c) Removed DIRD d) New control bits in several bytes (eg; Servo Modes). 12) Bugfix: Failure to clear high byte of SERVICE_REQ in SystemInit() sometimes caused bogus "Parse Err" message on powerup. --------------------------------------------------------- -- Documentation Changes between Ver1.50 and Ver1.40 -- --------------------------------------------------------- Owner's Manual: New sections describe Servo Modes, analog feedback, digital filter, and over current responses. Miscellaneous other improvements including some rearrangement and new graphics. Some improvements to the section describing the boot loader. New Parameter Block table in Appendix D reflects rearrangements and additional parameters. Getting Started Manual: Added setup info for analog encoders. Added the Servo modes to the Motor Control Interface Table. Some improvements to the Encoder Setup section. API Manual: Change to Cmd U. Response now sends back 6 bytes instead of 5 bytes. Add error# 0x0B for disabled motor control interface. I2C2 Manual: Change to Cmd U. Response now sends back 6 bytes instead of 5 bytes. Add error# 0x0B for disabled motor control interface.