Manuals/Firmware 5.xx Revision History

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This is a revision history of firmware 5.xx. Major changes that affect user experience are shown here.

NOTE: Firmware 5.xx runs on T-Series devices. For A-Series devices and X-Series devices with green power connectors, please see Firmware 6.xx Revision History. For X-Series devices with black power connectors, please see Firmware 7.xx Revision History.

5.35

Timer Adjustment

The internal timing of firmware has been fine-tuned. This corrects the speed accuracy of motion commands to within +/- 0.05%.

5.34

Disable Auto-reply (Cmd 40, bit 0)

When the Disable Auto-reply bit is set in Set Device Mode (Cmd 40), the device will no longer produce Error replies unless responding to Renumber, Echo Data, or any "Return" commands. Prior to version 5.33, error replies are always sent. This change guarantees that the device will not produce unexpected messages.

Disable Manual Move Tracking (Cmd 40, bit 5)

When the Disable Manual Move Tracking bit is set in Set Device Mode (Cmd 40), the device will no longer produce any manual move related replies. Prior to 5.33, only replies during motion are disabled and a reply is sent when the manual motion ends.

5.32

Minor firmware changes.

5.31

Default hold current setting for T-LLS family is adjusted.

5.30

Minor bug fixes and improvements

5.29

Home (Cmd 1)

Bug fixes to device freezing up when the Home command is issued. Some T-MCA controllers with firmware version 5.25-5.28 are found to be affected. When frozen, device is responsive to commands, but does not start the homing procedure. The device remains in the homing state until there is further activity in the serial port. After multiple commmands/replies arriving at the device, the device will begin homing and complete the procedure.

Workaround: Device will unfreeze with communication activity. Several examples:

  • After sending the original Home command, repeatedly send a dummy command (any command with non-existent device number, e.g. 255) until device responses with the Home reply.
  • After sending the original Home command, repeatedly send the ReturnStatus command (which is responded with with data 1) until device responses with a data value of 0

Please contact technical support if programming assistance is required.

5.28

Device Support

Adjusted current profile of T-LSM-SV1 and T-LSM-SV2 series for optimized performance and efficiency

Disable Auto-Reply (Cmd 40, bit 0)

Bug fixes to Disable Auto-Reply mode - when communicating with multiple devices, devices with Auto-Reply disabled would reply to movement commands in some conditions.

5.27

Device Support

Adjusted current profile of T-OMG series for optimized performance and efficiency

5.25

Manual Move with Potentiometer Knob

Potentiometer knob sensitivity is re-calibrated.

Prior to firmware 5.25, some devices would remain in motion when the potentiometer knob is returned to the center indent. Turning the knob pass the center intent is required to stop the device.

Device Support

Adjusted current profile of T-LSM, T-LSM-S and T-G-LSM series for optimized performance and efficiency

5.23

Set Axis Velocity Scale (Cmd 29)

T-JOY3 is now compatible with A-Series motorized devices.

Prior to firmware 5.23, Set Axis Velocity Scale had an upper limit of 65535.

Set Target Speed (Cmd 42)

Setting target speed to 0 is allowed. When target speed is set to 0, Move Absolute/Relative and Move to Stored Position commands will return an error.

Setting target speed to 0 was not allowed in firmware 5.21 and 5.22. This is reverted to provide better backward compatibility with Zaber devices.

Set Maximum Position (Cmd 44) and Set Current Position (Cmd 45)

Set Maximum Position (previously Set Maximum Range) and Set Current Position are no longer restricted by Current Position <= Maximum Position. When a device is out of range, movement towards its valid range is allowed, but any command for movement in the opposite direction will return an error (e.g. If Current Position > Maximum Position, movement in the negative direction is allowed, but movement in the positive direction is not).

Firmware 5.21 and 5.22 enforced Current Position <= Maximum Position at all time. This restriction is reverted to provide better backward compatibility with Zaber devices.

Prior to firmware 5.21, there is no restriction in setting position and setting maximum position. However. when Current Position of a device is beyond its Maximum Position, device behaviour is not well-defined.

Device Support

Adjusted current profile of T-RS and T-LSM-SV2M04 series for optimized performance and efficiency

5.22

Error:Voltage Low (Cmd 255, code 14)

When powering-up, a delay is added before firmware probes for input voltage. Prior to version 5.22, firmware tests for input voltage before the voltage level stabilizes on some device, resulting in a Voltage Low error message with functional power supplies.

5.21

General

Bug fixes to home speed command - now move absolute, move relative, and turning the pot uses home speed instead of target speed if unit hasn't been homed yet since powerup

Stop (Cmd 23)

This command used to decelerate and stop when used with move absolute (Cmd 20) and move relative (Cmd 21), but does an emergency stop when used with move at constant velocity (Cmd 22). Changed it such that it always decelerate and stop.

Set Target Speed (Cmd 42)

Setting target speed to 0 is not allowed and will return an error.

Set Maximum Range (Cmd 44)

New maximum range must be equal or greater than the current position. Using this command with a data value less than the current position is not allowed and will return an error.

5.20

Set Home Speed (Cmd 41)

Added command to set home speed, separate from Command 42 Set Target Speed.

5.18

Set Mode Bits (Cmd 40)

Bug fixes to the disable auto-reply mode bit

5.10

Set Mode Bits (Cmd 40)

Bug fixes to the disable auto-reply mode bit

5.08

Restore Settings (Cmd 36)

When settings are locked, a Restore Settings instruction will not longer return an error, but restore the device to default settings and return the device to an unlocked state.

5.07

Lock Settings (Cmd 49)

New instruction added to lock and unlock settings.

Restore Settings (Cmd 36)

Functionality to lock and unlock settings was moved to its own instruction (see above). When settings are locked, a Restore Settings instruction will return an error.

5.06

Set Device Mode (Cmd 40)
  • Bit 6 (Enable Message Ids): This mode bit was formerly called Enable Logical Channels and did not function reliably in earlier versions. In version 5.06 this mode bit was renamed to Enable Message Ids and the implementation was improved. It is not recommended to use this feature with firmware older than 5.06.
  • Bit 9 (Reverse pot direction): This bit was added giving the user the ability to set the direction of motion with respect to potentiometer movement.

5.04

Store Current Position (Cmd 16)

New instruction to save the actuator’s current position in one of 16 registers.

Return Stored Position (Cmd 17)

New instruction to return the position stored in one of 16 registers.

Move to Stored Position (Cmd 18)

New instruction to move to the position stored in one of 16 registers.

Echo Data (Cmd 55)

New instruction. Reply is simply an echo of the command.

5.02

Restore/Lock/Unlock Settings (Cmd 36)

Functionality to lock and unlock settings was added to the Restore Settings instruction. Issuing the instruction with data of 2768033 locks all settings. Issuing the instruction with data of 3308672 unlocks all settings.