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               FiveCo's FMod-IPDCMOT48/1.5 README file         
                 	 25-FEBRUARY-2009

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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-IPDCMOT48/1.5 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)

Rev 3.35
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- Java <6.7 applet download issue corrected
- Ethernet stack update

Rev 3.34
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- Ethernet stack update, java download error corrected

Rev 3.33
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- When Limits are activ, RegulationMode is updated for the state, not for an edge

Rev 3.32
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- Corrected pulses loss 
- Increase security of "Enable Pin" 
- Stops homing sequence when under/overvoltage 
- @ power-up if IP address already used, system reset after 10sec
- Minor Ethernet stack updates 

Rev 3.31
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- Homing with current(+/-) ends when overcurrent or (new) speed=0

Rev 3.30
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- Limits warning bits are always visible even if unused
- Ethernet stack updates
- IntegralDelta register is cleared when Homing has finished
- Minor motion stack updates

Rev 3.29
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- Correct error while deceleration while over-current

Rev 3.28
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- Correct error while pressing SOS button after power-up.

Rev 3.27
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- New security with read-only variables.
- Better brake, even if encoders are not connected.
- For homing, only Limit1 can be used.
- Add TCPCONNECTIONSOPENED and IPSUBNETMASK registers.

Rev 3.26
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- New function to change IP address with UDP broadcast.
- Minor Motorkernel update.

Rev 3.24
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- Intermediate version, with more space (+500bytes) for firmware, less for web
- Minor saving to EEPROM corrections.

Rev 3.22
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- StopHoming function set Regulation mode to brake, INPUT is cleared 

Rev 3.21
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- Clear INPUTOFFSET and INPUTOFFSETMEASURED during Homing.

Rev 3.20
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- Correction of OffsetMeasured after Stop/Free/OpenLoop Mode.
- Minor TCP/IP stack corrections.

Rev 3.18
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- Minor TCP/IP stack corrections.
- Add "Input not reached" bit in Warning register also for speed
  trajectory regulation.
- Homing and limits have been enhanced.

Rev 3.16
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- Minor bug correction.

Rev 3.15
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Initial version

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3. Upgrade procedure

1) Unzip IPDCMOT_Upgrader.zip
2) Connect FMod-IPDCMOT48/1.5 device to network.
3) Start "IPDCMOT_Upgrader.exe".
4) Give IP address of the module.
5) Click on "Change *.bin file" button and choose the file with
   the new firmware "IPDCMOT_FWx.x.bin".
6) The upgrade sequence deletes actual web page on the module.
   Click on "Change *.web file" button and choose the "IPDCMOT_WEBx.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 :

Uploading boot file
Boot file uploaded
Boot file test with HTTP
Test => OK
Activating boot file
Boot file activated
Reseting processor
Processor reseted
Waiting 15s - flashing
Uploading web file
Web pages uploaded

That's it !

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4. Copyright Notice

Software, documentation and related materials:
Copyright (c) 2002-2009 FiveCo Sàrl Lausanne Switzerland
All rights reserved.