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               FiveCo's FMod-I2CDCMOT 48/1.0 SLP README file
                 	   19-NOVEMBER-2019

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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 48/1.0 SLP 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 7.24 (Hw1.2) 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 (Hw1.2) 2019-03-15
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- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.19 (Hw1.2) 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 (Hw1.2) 2019-01-24
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- Better spd interpolation near 0p/s, less oscillations

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

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

Fw 7.10 (Hw1.2) 2018-01-09
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- Forbid sleep until limit interrupt is re-enabled

Fw 7.09 (Hw1.2) 2018-01-03
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- Improve regulation behavior when communicating with fast I2C (> 400kHz)
- Better management of processor undervoltage

Fw 7.07 (Hw1.2) 2017-11-07
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- Correct SpeedTrajectory not working when coming from StandBy

Fw 7.06 (Hw1.2) 2017-10-31
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- Reset the controller when voltage is under 2.8V (BOR)
  Correct CONFIG when update from <FW 2.2

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

Fw 7.03 (Hw1.1-1.2) 2017-07-31
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- add Index value in Warning register
- Add bit OPTIONS.12  Linear Deadzone

Fw 7.00 (Hw1.1-1.2) 2017-03-06
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- Initial version of this document
- 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


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3. Upgrade procedure

1) Unzip Firmware_FMod-I2CDCMOT_SLP_Fx_x.zip
2) Connect FMod-I2CDCMOT-SLP-48/1 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-SLP-48/1
7) Click on "Scan I2C devices..."
8) Search and click on the FMod-I2CDCMOT-SLP-48/1
9) Click on "Change *.bi2 file" button and choose the file with
   the new firmware "FMod-I2CDCMOT_SLP_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) 2002-2019 FiveCo
All rights reserved.