CANopen Application Updates

ver 5.38  2007/11/29           
             Release to Production  (medium optimization compile)

    Bug:     usAnalogIn_2010h1 did not function with M3001 chip.
               Analog input on different pin when using M3001 vs using M3000 processor chip.
    Bug:     Homing did not set to -Offset when Factory Unit options set to no-encoder.
               (ulUnitOptions_5001h1 bit3)
            
ver 5.39  2008/02/04
             Release to Production  (medium optimization compile)                     

    Bug:     Restore command is to restore to default paramteres, not stored NVM parameters.
             This is near equivalent of a "Return to Factory Default" "RTFD"
             except that NodeId and Baud are not altered.
    Bug:     Re-Transmitt logic added for TX messages that were squashed (ie.not completed)
             due to bus errors (noise on bus), or no Ack. "ReTx_Logic"
               Logic will re-transmit the last message so long it is not a Passive ANDOR BusOff error.
    Enhanse: Tx register CCFLG will set Tx bit only if Tx bit indicates Tx is EMPTY.
               Odds are the Tx is empty at the time of request, but this assures the case. "if_Tx_ready"
                                    
ver 5.40  2008/03/04
             Release to Production  (medium optimization compile)

ver 5.41
    Bug:     Upon a Reset_Application, the Bridge was disableing immediately, before the brake goes on.
               The bridge will re-enable, but only after it was off for about 150ms.
               The bridge should delay disabling,
                   for the period indicated by usBrakeOnSignal_To_BridgeOff_TimeMs_2035h1.
    Bug:     Operation Enable status was not conforming to diagram in manual.
               Operation Enable became active as soon as bridge was powered.
               Operation Enable should have been delayed the greater of the two time frames of
                   usBridgeOn_To_BrakeOff_TimeMs_2034h1  +  usBrakeOffSettleAllowTimeMs_2035h2, when Brake active
               OR  usBridgeOn_To_Encoder_SettleTimeMs_2037h,                                   when AutoSync active
    Bug:     sHalt_opcode_605Dh. (Had no effect. Motor halt impemented "slow down ramp" only)
                Halt option default value changed from 2 to 1.
    Bug:     ulQuick_stop_decel_6085h value not recognized during power up.
                Actual quick decel rate internally was 100,000 step/sec^2
    Added:   sHalt_opcode_605Dh ... Functionality value 2=(Slow down on "Quick Stop Ramp").
                For Profile_Position_Mode, Profile_Velocity_Mode, and Homing_Mode
    Added:   Ability to change the motor drive PWM parameters for MForce units (Idx5004).
                Temporary modification of drive PWM can be made without unlocking..
                Permanent modification or drive PWM can be made with usUnlockCode_5007h == 6102(d)
    Enhanse  Idx1015 was read only. It is now writeable. Functionality still to be tested.
    Enhanse  Flash read default address now points to checksum value for ease of tracking.
    Enhanse  Default value for store to NVM indexes (Idx1010) updated to reflect actual read value of 1.
               This only effects the EDS.
    Enhanse  Default value updates for PDO communication parameters.
               Idx1400h1 was 0x80000200 + NodeId$  ==>  0x00000200 + NodeId$
               Idx1801h1 was 0x80000280 + NodeId$  ==>  0xC0000280 + NodeId$
    Added:   wDataSpaceAddress_5302h1, and Idx5302h2
    Bug:     Homing Method  8 example3 stops on +side of Home at IndexWHome.
             Homing Method  9 example1 stops on -side of Home at IndexWHome.
             Homing Method 12 example3 stops on -side of Home at IndexWHome.
             Homing Method 13 example1 stops on +side of Home at IndexWHome.
    Enhanse: Homing to encoder index mark. Index mark was sampled,
               therefore motor rotation limited to 0.5 rev/sec.
                 Enhansed so that Idx mark is detected via interrupt. (ENC_INDX)
    Enhanse: The following indexes updated to _NOINT to reflect no initial default value.
               Idx2010h1      usAnalogIn unknown and may vary.
               Idx6061h0      Mode of Operation Display may not change on a reset.
               Idx60FDh0      Digital Inputs are determined by setup and switches.
               Parameters Intended for Testing and Factory and Debug
                 Idx5001h1      Options parameters may vary amoungst different units.
                 Idx5002h1      Full serial number will vary from unit to unit.
                 Idx5003h1      Full Part Number will vary from unit to unit.
                 Idx5004h1      Motor PWM Parameters will vary upon motor size.
                 Idx5001, 5002, 5003, and 5004 for subindex 2, Number of writes remaining for above
                 lIDXPOS_BridgeSign_intern_522Dh,  lIDXENC_BridgeSign_intern_5231h
    Bug:     Quick Stop did not initiate if there was a qued move.
                Logic Motor_Halt_If_Not_Already_Stopping upgraded to issue stop targeting
                when MoveTargetQue is NOT empty.
                Qued move example = Reverse direction...As the motor slows down to reverse,
                  the next move is qued.
    Bug:     Homing method 35 (assign position without movement or switches)
               did not indicate a change of status.

ver 5.42  2008/06/23  
             Release to Production  (medium optimization compile)  Check#= 0x0xB8A5




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CANtester GUI:
NEW: Updated to reflect feature of v42 CANopen Application.