<ChangeList.txt>

         ----------------------------------------------------
         --  Firmware Changes between Ver1.60 and Ver1.62  --
         ----------------------------------------------------

1)  Trajectory Generator: A minor change improves synchronization for closed
    loop commands (Cmd_Y, Cmd_S) that are issued while the motor is moving.
    This change "smooths" the transition interval between the old trajectory
    and the one used for the new command.


2)  Beginning with version 1.62 a new feature that implements a serial command
    interface timeout is supported.  This feature is of primary interest for
    users of the API or I2C2 interfaces, but also applies to the TE interface.
    The feature provides for automated motor shutdown in the event of "signal
    loss" on the serial interface.  See the API and I2C2 Interface document for
    details.

         ---------------------------------------------------------
         --  Documentation Changes between Ver1.60 and Ver1.62  --
         ---------------------------------------------------------

Owner's Manual:	Ver 0.33;  06/28/07;  7,931 KB
	1) Changes to Parameter Block to support Cmd Interface Timeout


Getting Started Manual:	Ver 0.07;  06/09/07;  6,472 KB
	1) No changes


API Manual: Ver 0.13;  06/28/07;  181 KB
        1) Fix incorrect description of error handling.
	2) Add section describing Cmd Interface Timeout Feature


I2C2 Manual: Ver 0.05;  06/28/07;  203 KB
	1) Add section describing Cmd Interface Timeout Feature