=================================================================
               FiveCo's FMod-I2C485ECMOT 48/10 DB README file         
                 	   21-APRIL-2021

*****************************************************************
*            CHECK THE FIVECO WEB SITE FOR THE LATEST           *
*               INFORMATION ABOUT FIVECO PRODUCTS               *
*                     http://www.fiveco.com/                    *
*****************************************************************

CONTENTS

1. Introduction
2. Revision history
3. Upgrade sequence I2C
4. Upgrade sequence RS485
5. Copyright Notice

=================================================================
1. Introduction

This file is intended to help the user to understand new features,
enhancement and bug corrections of new firmware of the motion 
control device.

The user should upgrade the firmware only if it was told to do it
by a FiveCo's support engineer.

=================================================================
2. Revision history (only released revisions are commented)

Fw 7.30 (Hw1.2) 2021-04-21
--------------------------
- Bootloader v2.4 (BIOS) update for old devices
- Loops peak current not all time

Fw 7.25 (Hw1.2) 2019-12-13
--------------------------
- Internal faster code for limits action

Fw 7.24 (Hw1.2) 2019-11-19
--------------------------
- Reduced CPU performance for logic 5V <4.11V glitch, (previous <4.33V)
- Auto Homing @ startup wait for no Undervoltage (Warning bit)
- Limits wait for Homing finished (issue when UnderVoltage)
- Limits chg RegulationMode only 1x per newState, to accept SleepMode

Fw 7.20 (Hw1.2) 2019-03-15
--------------------------
- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.19 (Hw1.2) 2019-02-13
--------------------------
- New Loops management, add LoopsOptions bit 2 cmd (0=loops range, 1=absolute)
- new cmd 0x72 LoopsRangeOutSidePositionInput, 0x73 LoopsRangeNewInput
- new goal range for loops, range in Input space when inside Deadzone

Fw 7.16 (Hw1.2) 2019-01-24
--------------------------
- Better spd interpolation near 0p/s, less oscillations
- Brushless motor, Encoder failure detected with hall sensors->brake mode

Fw 7.14 (Hw1.2) 2018-10-23
--------------------------
- Add register 0x57 ComWatchDog 4B

Fw 7.11 (Hw1.2) 2018-04-10
--------------------------
- New LoopsInput Counter mode LoopsRangePosition and LoopsRangePositionInput

Fw 7.09 (Hw1.2) 2017-12-21
--------------------------
- Improve regulation behavior when communicating with fast I2C (> 400kHz)
- Better management of driver undervoltage

Fw 7.05 (Hw1.2) 2017-08-16
--------------------------
- Linear Dead Zone [-1,0,1] near goal spd consign= 0

Fw 7.04 (Hw1.2) 2017-08-10
--------------------------
- Correct bug RS485 corrupt motion kernel or com

Fw 7.03 (Hw1.2) 2017-07-31
--------------------------
- add Index value in Warning register
- correct bug Homing not working
- Add bit OPTIONS.12  Linear Deadzone

Fw 7.01 (Hw1.2) 2017-03-27
--------------------------
- Registers 0x60-0x6F accessible with RS485

Fw 7.00 (Hw1.2) 2017-03-06
--------------------------
- Common version for all driver EC or DC mot
(I2CDCMOT DB & SLP, IPECMOT T1 & T2, I2c485ECMOT)
- Add predictive regulation, VffOffset, Kvff, Kaff, Kdff
- x10 speed interpolation OPTION bit replaced by x1-x4-x8 AUTO-interpolation
- Add IOState, IOCfg (even if no hardware pins exist)
- Add Synchronous trajectories with TrackPosition, KppTrack, TrackMaxSpd

Fw 3.04 (Hw1.0-1.2) 2015-10-16
-----------------------------
- Correct bug I2C led not working
- Better and faster auto dissipation calculation
- Add saturation security for calculation
- Optimize AntiResetWindUp calculation

Fw 3.00 (Hw1.0-1.2) 2015-06-18
-----------------------------
- Add autodissipation management
- multiple minor kernel updates

Fw 2.02 (Hw1.0-1.2) 2011-09-05
-----------------------------
- RS485 better retransmission when packet failed

Fw 2.01
--------
- RS485 works at 115'200bps, before NA

Fw 2.00
--------
- Add warranty parameters (0x0B,0x0C)
- Increase goal stability (overshoots)
- PowerUp Homing @ startup (1x) after exit undervoltage + 1000ms
- delete Force speed during overshoot, option bit

Fw 1.02
--------
- Add integrator stopped by overcurrent, option bit, and warning bit
- Add Force speed during overshoot, option bit
- Add Communication LED

Fw 1.00
--------
- Initial version of this document


=================================================================
3. Upgrade procedure - I2C

1) Unzip Firmware_FMod_I2C485ECMOT_DB_Fx_x.zip
2) Connect FMod-I2C485EDCMOT 48/1.5 DB to an FMod-TCP-DB or FMod-TCP-BOX
3) Connect FMod-TCP-DB or FMod-TCP-BOX to your network.
4) Start "FWUpgrader.exe".
5) Click on the "Scan..." button.
6) Search and click on the FMod-TCP-DB or FMod-TCP-BOX connected to the FMod-I2C485ECMOT-DB-48/10
7) Click on "Scan I2C devices..."
8) Search and click on the FMod-I2C485ECMOT-DB-48/10
9) Click on "Change *.bi2 file" button and choose the file with
   the new firmware "I2C485ECMOT_H1_x_Fx_x_.bi2" (F=firmware,H=hardware)
10) Click on "START" button. Upgrade start.
   BEWARE : Do not unplug ethernet cable or power cable during 
   process!
11) Following result should be displayed :

Start upgrade.
Check actual firmware version.
Check actual firmware version on I2C device.
Bi2 file uploaded succesfully.
Flashing I2C device.
Upgrade finished successfully.

That's it !

=================================================================
4. Upgrade procedure - RS485

1) Unzip Firmware_FMod_I2C485ECMOT_DB_Fx_x.zip
2) Connect FMod-I2C485EDCMOT 48/1.5 DB to a computer through a RS485 adapter (e.g. USB-RS485)
3) This opens a virtual COM port on the computer
4) Start "FirmwareUpgrader_RS485.exe".
5) Choose the right communication settings.
	- Select the right COM port (e.g. COM07)
	- Write 115200 for the BaudRate (bits/sec)
	- Write the RS485 address of the module (Main add), 
		This address is set by Hardware pins on the board, refer to the user manual for more informations
6) Click on the "Check device" button, the Type/Model and FW/HW version are updated
7) If the connection to the board is correctly made, the folling results are displayed:

Check actual firmware version on device.
Check version and type read successfully.

7) Click on "Load *.bin file..." and choose the choose the file with
   the new firmware "I2C485ECMOT_H1_x_Fx_x_.bin" 
10) Click on "START" button. Upgrade start.
   BEWARE : Do not unplug RS485 cable or power cable during 
   process!
11) Following result should be displayed :

Start upgrade.
Check actual firmware version on device.
Uploading bin file...
Bin file uploaded successfully.
Flashing device...
Read new firmware version.
Upgrade finished successfully.

That's it !

=================================================================
4. Copyright Notice

Software, documentation and related materials:
Copyright (c) 2002-2021 FiveCo
All rights reserved.