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             FiveCo's FMod-IPECMOT 48/10 T1 README file         
                 	   21-APRIL-2021

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*            CHECK THE FIVECO WEB SITE FOR THE LATEST           *
*               INFORMATION ABOUT FIVECO PRODUCTS               *
*                     http://www.fiveco.com/                    *
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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 
FMod-IPECMOT 48/10 T1 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 (Hw1.8) 2021-04-21
--------------------------
- Bootloader v2.4 (BIOS) update for old devices
- Loops peak current not all time

Fw 7.25 (Hw1.8) 2019-12-13
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- Internal faster code to limit actions

Fw 7.24 (Hw1.8) 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 (Hw1.8) 2019-03-15
--------------------------
- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.19 (Hw1.8) 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 (Hw1.8) 2019-01-24
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- Better spd interpolation near 0p/s, less oscillations
- Brushless motor, Encoder failure detected with hall sensors->brake mode

Fw 7.14 (Hw1.8) 2018-10-23
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- Add register 0x57 ComWatchDog 4B

Fw 7.11 (Hw1.8) 2018-04-10
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- New LoopsInput Counter mode LoopsRangePosition and LoopsRangePositionInput

Fw 7.09 (Hw1.8) 2018-01-03
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- Faster communication with controler
- Better management of controler undervoltage

Fw 7.05 (Hw1.8) 2017-08-16
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- Linear Dead Zone [-1,0,1] near goal spd consign= 0

Fw 7.03 (Hw1.8) 2017-07-31
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- add Index value in Warning register
- correct bug Homing not working

Fw 7.02 (Hw1.8) 2017-07-27
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- Add bit OPTIONS.12  Linear Deadzone

Fw 7.00 (Hw1.8) 2017-03-06
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- Web java-applet 4.1
- 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 6.00 (Hw1.8)
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- Better bootsafe
- Decrease microcontroller frequency when low-voltage is detected on +5V
- Avoid saving EEPROM parameters when low-voltage is detected on +5V
- Spd interpolation auto switch 1-4-8x instead of fixed 10x

Fw 5.20 (Hw1.8)
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- More flash for code less for web page
- Old rebound time restored
- Faster voltage calculation every 500us
- Powerup homing done after Enable and Voltage OK
- Correct Voltage initialization
- Motor controllers codes harmonized
- Add accessible StandByTimer (0x0D) register for future use

Fw 5.08 (Hw1.8)
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- Error Management when one output phasis is short to gnd (Warning bit 24-25)

Fw 5.07 (Hw1.8)
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- Kernel updates
- Better security for EEprom and Flash read/writes
- Motion kernel updates

Fw 5.02 (Hw1.8)
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- Accept only 1 overshoot if goal is impossible to reach in max deceleration

Fw 5.00 (Hw1.8)
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- Change from external 10MHz resonator to internal 8MHz.
  to skip microcontrolleur hardware bug.
  power PWM goes from 39.4kHz to 34.7kHz, 78.8kHz to 69.4kHz

Fw 4.00 (Hw1.6-1.8)
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- Add warranty parameters (0x0B,0x0C)
- Increase goal stability (overshoots)
- PowerUp Homing @ startup (1x) after exit undervoltage + 1000ms
- Version register (0x01) now includes hardware version too 1.6-1.8 
- last version supported for harware 1.6-1.7 (before 2007)
- web page 2.1 (shows hardware version)

Fw 3.02 (Hw1.6-1.8)
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- Add Loops management with peak current
- Add overcurrent detection 
- Add integrator stopped by overcurrent, option bit, and warning bit

Fw 2.22 (Hw1.6-1.8)
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- Negative temperature do not set overtemperature state

Fw 2.21 (Hw1.6-1.8)
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- Java >6.7 issue corrected
- Add Dead zone DZ armed when Position inside DZ and speed==0

Fw 2.19 (Hw1.6-1.8)
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- Silicon bug correction that generate TCP checksum error sometimes.

Fw 2.18 (Hw1.6-1.8)
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- Limit mechanical switches have new rebonds suppression of 50ms (old 10ms)

Fw 2.17 (Hw1.6-1.8)
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- INPUTMIN & INPUTMAX registers are set to default value during autotuning
- Corrected Homing with limits when "Hall Sensors as Encoders" are selected
- Update faster "Warning Input Not Reached" bits when new INPUT is written

Fw 2.16 (Hw1.6-1.8)
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- Position with "hall sensor as encoder" corrected during power up

Fw 2.15 (Hw1.6-1.8)
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- Ethernet stack update, java download error corrected

Fw 2.14 (Hw1.6-1.8)
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- Direction inversion bit of OPTIONS is not cleared during autotuning
- Time of autotunting has been increased of 0.7 sec
- When Limits are activ, RegulationMode is updated for the state, not for an edge
- Minimum version for update v2.12

Fw 2.12 (Hw1.6-1.8)
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- Minimum version for update v2.7

Fw 2.11 (Hw1.6-1.8)
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- Corrected pulses loss 
- Increase security of "Enable Pin" 
- Better management of "hall sensors as encoder"
- Stops homing sequence when under/overvoltage 
  or overtemperature is detected
- @ power-up if IP address already used, system reset after 10sec
- Minor Ethernet stack updates

Fw 2.09 (Hw1.6-1.8)
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- Homing with current(+/-) ends when overcurrent or (new) speed=0

Fw 2.08 (Hw1.6-1.8)
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- Current reduction of step (100,75,50,25%) when overtemperature 
- Limits in Warning register are always visible even when unused
- Ethernet stack updates
- Corrected bug during Homing

Fw 2.07 (Hw1.6-1.7)
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- Better speed calculation during deceleration when overcurrent

Fw 1.01 (Hw1.5)
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preliminary version
- Enhanced hall sensors measurement, hall sensor as encoder up to
  8'000 pulses/sec (80'000 turns/min, with bipolar motor)

Fw 1.01 (Hw1.0-H1.5)
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preliminary version
- Initial version

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3. Upgrade procedure

1) Unzip Firmware_FMod-IPECMOT_T1_Fx_x_Wx_x.zip
2) Connect FMod-IPECMOT 48/10 T1 card to network.
3) Start "FWupgrader.exe".
4) Give IP address of the module.
5) Click on "Change *.bin file" button and choose the file with
   the new firmware "IPECMOT_T1_H1_8_Fx_x.bin" (F=firmware,H=hardware)
6) The upgrade sequence deletes actual web page on the module.
   Click on "Change *.web file" button and choose the "IPECMOT_Wx_x.web"
   file present in zip file.
7) Click on "START" button. Upgrade start.
   BEWARE : Do not unplug ethernet cable or power cable during 
   process!
8) Following result should be displayed :

Start upgrade.
Check actual firmware version.
Upload bin file.
Bin file uploaded succesfully.
Uploaded bin file check.
Test => OK
Activating bin file.
Reseting processor.
Flashing.
Read new firmware version.
Uploading web file.
Web file uploaded succesfully.
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.