MDRIVE PLUS MICROSTEPPING FIRMWARE

Version MDM3.0.02
Change Summary

• Added Enable Active Level, Hi=True is default.
• Set Step and Dir Default Filtering to 2.5 MHz.
• Added User ID to PN/SN recall.

Previously Released Versions 

MDRIVE PLUS MOTION CONTROL FIRMWARE

Version MDI3.008

1. Modified CP and PG to copy variables and flags from prev. to new flash sector.
2. Fixed ES to clear to 1 on FD.
3. Added new variable, PWmregs, to support MForce PWM Motor Registers.
4. Fixed multiple Jog plus Motion problems.
5. Fixed MSel Reported incorrectly if EE=1.
6. Changed so that CM is only disabled when IOs 7 & 8 set as inputs.
7. Changed, when setting IOS 7 or 8 that they track each other.
8. Added TR (Trip Relative) function.
9. Added test for OT to limit value to <= 255.
10. Added Stall Testing when in Following Mode.
11. Added Test for trying to set PM=1 while in following mode, its not allowed.
12. Added Test to setting CM=1 to turn off PM if enabling Following Mode.
13. Modified to allow setting of VARs while INPUT pending.
14. Fixed TC's setting of PC (Position Capture).
15. Fixed setting user variables that end in a number.
16. Fixed OH.
17. Added a reset of the TP register when EE is changed to 0 or 1.
18. Fixed Stall problems.
19. Fixed problem of missing echoed characters.
20. Eliminated wait time when program is starting up and the IO settings becoming valid.
21. Fixed Slewing again while ramping down to a SL 0.
22. Added error (74) for trying to do IP or CP while in motion.
23. Added error (41) for trying to do IP while PGM Running.
24. Added: Resume will not start while in motion.
25. Fixed Run-away condition while doing a move on a move.
26. Added Queued Flag (QD = 0/1), Allows for queued communications.
27. Added tests for acceptable values of VI and VM.
28. Updated Copyright dates.
29. Added error correction, at end of a move, count, limit is three tries to correct, then error (92) issued.
30. Fixed HOMING when home sw. activated and released before motion stops.
31. In MForce, Limited PWM settings to first three.
    On a read, the fourth parameter is the number of PWM writes available.
    On a write, the fourth parameter is the 2's complement check sum of the first three parameters.
      Must be valid in order to be able to write the PWM settings to flash.

Previously Released Versions 

MICROLYNX FIRMWARE

Version LX1.552
Change Summary

• Flag added to allow user to choose if JOYSTICK zero velocity has run or hold current.
• When already in motion, enables subsequent MOVA or MOVR with a lower Vm than initially specified.
• Make Position Correction, EE=1, look at STLDM before stopping motor.
• CtrlC can now be sent in party mode when Master uLYNX is HOST.
• There is a new flag for the uLYNX/LYNX. It is for use with JoyStick (when JSE = 1): JSHC 1/0 
  1 = Set current to Hold Current (MHC) when velocity is ZERO
  0 = Leave current at Run Current (MRC) when velocity is ZERO
  The default value is 1.
• Fixed CMOVR causing error 7004 (POS_ERROR) if executed three times.
• Added Enhancements to Party Mode Communications.
• Set Comms 1 and 2 to ignore NULLs if not in Binary Mode.
• Added another ECHO mode (mode 3). Causes the echo of an immediate command to be held off until the the main loop detects that the print buffer is not being written to before being sent, then the command will be executed.
• Added another mode to MOV(A/R). Comm Port to Report with DN to upon reaching position.          
            MOVR/A dist, stay_mvg, 0(blank): no report
                      1 : report to comm1
                      2 : report to comm2
• Added Print IO 20 to 50 as one number. PRINT IO 60 (32 bit result)
• Added Set IO 20 to 50 as one number. IO 60 = xxxxxxx (32 bits)
• Added Cr/Lf to Sending DN after MOVR dist,,1 and MOVA pos,,1
• Added Send DN when Slew reaches Velocity.
            SLEW vel, no ramp, 0(blank): no report
                      1 : report to comm1
                      2 : report to comm2
• Added a PAUSED check to the sending of DN when reaching POS or VEL.
• Added DN report to SSTP:
            SSTP x, 0(blank): no report
                      1 : report to comm1
                      2 : report to comm2
• Fixed setting DN to "0" to "9", works with DN=48 to DN=57.
• Improved the Timer Trip Enable function.
• Fixed problem with short moves.
• Added IOS type - RESET_DRV (15). Operates like (Ctl-C)

MICROLYNX FIRMWARE

Pre-Release Version LX901.554
Change Summary

• Fixes problem with using the Analog JoyStick module in a program

Previously Released Versions