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               FiveCo's FMod-I2CDCMOT 48/1.5 DB README file
                 	   21-APRIL-2021

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CONTENTS

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

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1. Introduction

This file is intended to help the user to understand new features,
enhancement and bug corrections of new firmware of the 
I2CDCMOT 48/1.5 DB motion control device.

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

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2. Revision history (only released revisions are commented)

Fw 7.30 (Hw1.0) 2021-04-21
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- Bootloader v2.4 (BIOS) update for old devices
- Loops peak current not all time

Fw 7.25 (Hw1.0) 2019-12-13
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- Internal faster code to limit actions

Fw 7.24 (Hw1.0) 2019-11-19
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- 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 (Hw1.0) 2019-03-15
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- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.19 (Hw1.0) 2019-02-13
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- 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 (Hw1.0) 2019-01-24
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- Better spd interpolation near 0p/s, less oscillations


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

Fw 7.11 (Hw1.0) 2018-04-10
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- New LoopsInput mode LoopsRangePosition and LoopsRangePositionInput

Fw 7.09 (Hw1.0) 2017-01-03
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- Improve regulation behavior when communicating with fast I2C (> 400kHz)
- Better management of processor undervoltage

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

Fw 7.03 (Hw1.0) 2017-07-31
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- add Index value in Warning register
- Add bit OPTIONS.12  Linear Deadzone

Fw 7.00 (Hw1.0) 2017-03-06
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- 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 6.09 (Hw1.0)
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- Integrator cleared when change of REGULATIONMODE
- VOLTAGE = 0 if logic 5V CPU too low (4.3V)
- EEPROM kernel update
- TIMEINSERVICE, NBPOWERUP register added

Fw 5.01 (Hw1.0)
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- Accept only 1 overshoot if goal is impossible to reach in max decelaration

Fw 5.00 (Hw1.0)
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- Add warranty parameters (0x0B,0x0C)
- Increase goal stability (overshoots)
- PowerUp Homing @ startup (1x) after exit undervoltage + 1000ms

Fw 4.01 (Hw1.0)
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- Add LoopsInfinite(Pos/Neg)Speed

Fw 4.00 (Hw1.0) 
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- Initial version of this document
- Minimum firmware upgradeable v3.21
- Add Loops management


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3. Upgrade procedure

1) Unzip Firmware_FMod-I2CDCMOTDB_Fx_x_Hx_x.zip
2) Connect FMod-I2CDCMOT-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-I2CDCMOT-DB-48/1.5
7) Click on "Scan I2C devices..."
8) Search and click on the FMod-I2CDCMOT-DB-48/1.5
9) Click on "Change *.bi2 file" button and choose the file with
   the new firmware "FMod-I2CDCMOT_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 !

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4. Copyright Notice

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