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Firmware & EDS

Released Firmware

Select the product, control type and feedback loop of the product you want firmware for:
  

LMD MCode OS 7.008 for Absolute Encoder

Release notes
  1. Improved manufacturing test ability for more reliable encoder mapping of HMT.

Upgrading Motion Control firmware to version 7.008 also requires upgrading Ethernet firmware to version 2.4.0.8  for absolute encoder ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP
Release dateAugust 11, 2022

LMD MCode OS V6.017

Release notes
  1. Improved manufacturing test ability for more reliable encoder mapping of HMT.

Upgrading Motion Control firmware to version 6.017 also requires upgrading Ethernet firmware to version 2.4.0.8  for closed/open loop Ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP
Release dateAugust 11, 2022

MDrive/MForce MCode OS V3.015

Release notes
  1. Updated copy write information to reflect brand transition
DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toMDrive/MForce Motion Control, MDrive Ethernet TCP/IP
Release dateMarch 10, 2022

LMD Pulse/Direction V5.012

Release notes
  1. Updated copy write information to reflect brand transition
DependencyPulse/Direction Interface
Applicable toLiberty MDrive Pulse/Direction
Release dateMarch 10, 2022

LMD Ethernet TCP/IP Application 2.4.0.8

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Updated vendor data for specific application protocols to reflect brand transition
  2. Correct bug that impacted performance of implicit output registers six (6) and seven (7) when using the Ethernet/IP application protocol

Upgrading Ethernet firmware to version 2.4.0.8 also requires upgrading Motion Control firmware to version 6.016 for closed/open loop products or version 7.007 for absolute encoder products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

*Previously Lexium

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP
Release dateMarch 10, 2022

LMD CANopen OS 7.23.51

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1.  Improved conversion accuracy 413==>825, >>8 ==> >>9
  2.  Internal Supercap storage is not allowed to discharge when external battery is attached.
  3.  Fixed – RefLost did not signal true, although the position was truly lost. May occurs when Vsupercap (Internal Holdup for Absolute) is between 2-2.5vdc, when unit is powered on. This is not an issue when external battery pack is used.

 

DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Release dateApril 6, 2021

LMM MCode OS 6.013

Release notes

Novanta IMS** has issued an update to Programmable Motion Liberty* Motion Module products utilizing
firmware version 6.012. This change includes general updates and bug fixes. There is no known impact to product’s form, fit, or
function; however, users should evaluate these changes in their systems.

*Previously Lexium
**Previously SEM

 

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty Motion Module Motion Control
Release dateJuly 22, 2019
Icon
6.013

LMM CANopen OS 9.20

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Initial Release

DependencyCANopen Interface
Applicable toLiberty Motion Module CANopen
Release dateJune 21, 2016
Icon
LMM 9.20

MDrive Speed Control (MDO) 3.006

Release notes
  1. Fixed data integrity checks on startup.
  2. Fixed problem with analog input, with center set, not changing direction.
DependencySPI Motor Interface
Applicable toMDrive Speed Control
Release dateJuly 16, 2015

MDrive/MForce Step/direction 3.005

Release notes
  1. Fixed problem when trying to change the PWM settings.
  2. Changed MForce PWM settings. moved to data sectors
  3. Fixed upgrade function
  4. Changed FAULT function from over-current to over-temp.
  5. Fixed how data integrity is checked at power on.
DependencySPI Motor Interface
Applicable toMDrive/MForce Step/direction
Release dateAugust 8, 2013

MDrive Speed Control 3.005

Release notes
Dependency
Applicable to
Release date

MDrive/MForce CANopen OS 5.54

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Performance optimization
  2. Remote encoder filter and range modified
DependencyCANopen Interface
Applicable toMDrive/MForce CANopen
Release dateSeptember 25, 2015

Firmware Archive

Select the product, control type and feedback loop of the product you want firmware for:
  

LMD MCode OS V6.016

Release notes
  1. Updated copy write information to reflect brand transition

Upgrading Motion Control firmware to version 6.016 also requires upgrading Ethernet firmware to version 2.4.0.8  for closed/open loop Ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP

LMD MCode OS 7.007 for Absolute Encoder

Release notes
  1. Updated copy write information to reflect brand transition

Upgrading Motion Control firmware to version 7.007 also requires upgrading Ethernet firmware to version 2.4.0.8  for absolute encoder ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD MCode OS V6.015

Release notes
  1. Correct bug that impacted error stack reporting.
  2. Correct bug that impacted deceleration ramp when software limit is active.
  3. Correct bug that impacts deceleration ramp when relative move of zero is executed.

Upgrading Motion Control firmware to version 6.015 also requires upgrading Ethernet firmware to version 2.4.0.7  for closed/open loop Ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP

LMD Ethernet TCP/IP Application 2.4.0.7

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Correct bug impacting Profinet I/O task timing.
  2. Correct bug impacting Profinet I/O timer rollover.
  3. Improve internal processor communication to resolve issues related to error 65 (SPI communication).

Upgrading Ethernet firmware to version 2.4.0.7 also requires upgrading Motion Control firmware to version 6.014 for closed/open loop products or version 7.006 for absolute encoder products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

*Previously Lexium

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP

LMD MCode OS V6.014

Release notes
  1. Correct bug that caused CW to be overwritten by ST.
  2. Correct bug that caused motor to creep at a speed less than or equal to VI on soft limit trips.

Upgrading Motion Control firmware to version 6.014 also requires upgrading Ethernet firmware to version 2.4.0.7  for closed/open loop ethernet products using version 1.0.1.9 of the Liberty Software Suite.

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP

LMD MCode OS 7.006 for Absolute Encoder

Release notes
  1. Correct bug impacting creep condition when soft limit trips.
  2. Correct bug that resets the encoder counter when error 122 was asserted with external battery connected.
  3. Correct bug impacting  internal charging algorithm.

Upgrading Motion Control firmware to version 7.006 also requires upgrading Ethernet firmware to version 2.4.0.7  for absolute encoder ethernet products using version 1.1.0.0 of the LMD Software Suite.

Tutorial

Upgrading the LMD MCode OS Firmware

*Previously Lexium

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD CANopen OS 7.23.46

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Test features added
    • To test SPI communication signals
    • Lattice connection signals
    • Various overrides to control supercap charging
  2. Improved Pvl Mapping and Timken Mapping
  3. Ability to map without storing values
  4. Temperature compensated the supercap charge limits
  5. External Vbat High Warning default changed from 5.500Vdc to 5.900Vdc
  6. Timken mapping to record Index mark if in wrong spot
  7. Ability to Map when scBridgeSign_2030h set to reverse direction.
  8. Timken spi readout includes checksum, error indicated as needed.
  9. Nuisance Emergency Message indicating reference loss when not lost
  10. Logic to not charge Supercap if there is an External battery pack
  11. lIDXENC_BridgeSign_intern_5231h to be zeroed out when OpenLoop Unit
  12. Reduced instances of duplicate Emergency Messages

 

DependencyCANopen Interface
Applicable toLiberty MDrive CANopen

LMD MCode OS 7.005 for Absolute Encoder

Release notes

Update Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.

7.005
  1. Revised external battery back up algorithm.
  2. Added error 127 to inform user of low external battery voltage level.
  3. Resolved communication issue when unit enters state of deep discharge.
  4. Revised charging algorithm to prevent damage to Absolute Encoder circuitry.
  5. Added turning off the drive enable input upon loss of +V.
  6. Added a 250 mS delay before re-enabling drive following power loss if DE=1.

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD Ethernet TCP/IP Application 2.4.0.6

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Release supporting updates for Liberty MDrive products

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP

LMD MCodeOS 6.013

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP
Icon
6.013

LMD Ethernet TCP/IP Application 2.4.0.5

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Release supporting updates for Liberty MDrive products

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP

LMD MCode OS 7.004 for Absolute Encoder

Release notes

Update Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.

7.004
  1. Added test for VB being less than 3.0 volts.
  2. Added Error Stack.
  3. Added Ability to read Error Stack:
      PR Er ==> print error at stack position
      PR Er,0 – 9 ==> print error at stack position
      PR Er,10 ==> print all error
  4. Added setting C2 == 0 when error 122 is triggered
  5. Fixed Moving Indication
  6. Added RD
  7. Fixed Print ALL when EE = 1
  8. Fixed PC when EE = 1
  9. Fixed PR OT

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD MCode OS 7.003 for Absolute Encoder

Release notes

Update Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.

Changes 7.002 to 7.003
  1. Fixed reading and writing to the Absolute Encoder.
  2. Increased the maximum Absolute Encoder operating voltage range to 5.9.
  3. Updated Copyright Dates.

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD MCode OS 7.002 for Absolute Encoder

Release notes

Initial Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive CANopen, Liberty MDrive Ethernet TCP/IP

LMD Ethernet TCP/IP Application 2.4.0.4

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Release supporting Absolute Encoder functionality updates for Liberty MDrive products with a multi-turn absolute encoder

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP

LMD CANopen OS 7.23.12

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
DependencyCANopen Interface
Applicable toLiberty MDrive CANopen

LMD CANopen OS 7.23.4

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Fixed issue with node-guarding and heartbeat.
  2. Enhancements to prevent sync message overflow.
  3. Fixed Run Current register overrun bug.
  4. Fixed missing heartbeat bug.
  5. Fixed bug occurring when moving into a hard stop with hMT on.
  6. Added ability to input a quadrature encoder signal on inputs 3 and 4.   Documentation
  7. Fixed bug with Tx messages not sent under certain conditions.
  8. Fixed issue with LED2 not clearing following a node guarding or lifeguarding event.
DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Icon
7.23.4

LMM MCodeOS 6.012

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.
DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty Motion Module Motion Control
Icon
6.012

LMD MCodeOS 6.012

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.

Tutorial

Upgrading the Liberty MDrive MCode OS Firmware

DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP
Icon
6.012

LMM MCodeOS V6.010

Release notes
  1. Added updating internal Accel/ Decel tables when changing A or D and EE=1.
  2. Fixed code to keep 01 and 02 from pulsing on Ctrl-C (reset) or Power On.
Dependency
Applicable toLiberty Motion Module Motion Control
Icon
LMM 6.010

MDrive Speed Control (MDO) 3.004

Release notes
Dependency
Applicable to

MDrive Speed Control (MDO) 3.005

Release notes
Dependency
Applicable to

LMD MCodeOS V6.010

Release notes

Changes Ver. 6.008 to 6.010
1. Added updating internal Accel/ Decel tables when changing A or D and EE=1.
2. Fixed code to keep 01 and 02 from pulsing on Ctrl-C (reset) or Power On.

Dependency
Applicable to
Icon
LMD 6.010

LMM MCodeOS V6.008

Release notes
Dependency
Applicable to
Icon
LMM 6.008

LMD MCodeOS V6.008

Release notes

Changes Ver. 6.007 to 6.008

  1. Fixed List to support VA xx = y. (missing equal sign).
  2. Changed AV to be able to be read all of the time. Compensated value for when EE=0.
  3. Added new mnemonic, RP Referenced Position. Indicates position reference (P set to a value).
  4. Fixed BL to display and save BL properly, depending on the state of EE flag.
  5.  Modified conversion of Backlash when printing BL when EE=1 .
Dependency
Applicable to
Icon
LMD 6.008

LMD MCode OS V6.007

Release notes

Change Log 6.006 to 6.007

  1. Corrected an issue occurring when SL V1 then SL V2; when V2 > V1.
  2. Corrected an issue occurring with MA / SL when AS=0.
  3. Corrected an issue occurring during a Move on Move,, Slew on Slew or Slew on Move.
  4. Corrected an issue with the VC flag during velocity change.
  5. Corrected an issue occurring when trying to indirectly set an array with via pointer greater than the array size.
  6. Corrected an issue impacting detection of invalid array pointers.
  7. Updated Copyright year to 2017
  8. Added a test to prevent sending MA <position> multiple times while still moving to the previous commanded position,
  9. Corrected an issue regarding the outputting of Encoder on O1 and O2 .
Dependency
Applicable to
Icon
6.007

LMD MCode OS 6.006

Release notes

Change Log 6.006 to 6.007

  1. Corrected an issue occurring when SL V1 then SL V2; when V2 > V1.
  2. Corrected an issue occurring with MA / SL when AS=0.
  3. Corrected an issue occurring during a Move on Move,, Slew on Slew or Slew on Move.
  4. Corrected an issue with the VC flag during velocity change.
  5. Corrected an issue occurring when trying to indirectly set an array with via pointer greater than the array size.
  6. Corrected an issue impacting detection of invalid array pointers.
  7. Updated Copyright year to 2017
  8. Added a test to prevent sending MA <position> multiple times while still moving to the previous commanded position,
  9. Corrected an issue regarding the outputting of Encoder on O1 and O2 .
Dependency
Applicable to
Icon
6.006

LMM MCodeOS V6.007

Release notes
Dependency
Applicable to
Icon
6.007

Liberty* Motion Module Firmware 6.004

Release notes
Dependency
Applicable to

Liberty* Motion Module Firmware 6.006

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.44

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.48

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.50

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.52

Release notes
Dependency
Applicable to

MDrive Ethernet Application

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Ethernet Application contains the EtherNet/IP, MODBUS/TCP and Mcode over TCP. Special considerations are required when updating such as Windows Firewall settings. See this Application Note for upgrade instructions.

The following software is required to install this firmware:

>Download Ethernet TCP Configuration Utility

DependencyEthernet TCP Interface
Applicable toMDrive Ethernet TCP/IP

MDrive MCode OS V3.010

Release notes
Dependency
Applicable to

MDrive MCode OS V3.011

Release notes
Dependency
Applicable to

MDrive MCode OS V3.012

Release notes
Dependency
Applicable to

MDrive MCode OS V3.013

Release notes
Dependency
Applicable to

MDrive/MForce MCode OS V3.014

Release notes
  1. Fixed display problem of VI and VM when EE=1 and result is divided by fEE_Ratio, by adding a round up to the equation.
  2. Fixed display problem of V when EE=1.
  3. Fixed display problem of V when EE=0.
  4. Fixed Fix to test EE_Flg.
  5. Added error (41) if try to List while program running.
  6. Fixed Tr with holds for time.
  7. Added line delay for listing with IP. (50mSec if option set for Ethernet).
DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toMDrive/MForce Motion Control, MDrive Ethernet TCP/IP

MDrive/MFoce Step/direction 3.001

Release notes
Dependency
Applicable to

MDrive/MFoce Step/direction 3.002

Release notes
Dependency
Applicable to

LMD CANopen OS 7.13

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.11 to 7.13

  1. Added support for NEM 17 LMD
  2. Added support for open loop LMD units
  3. Locked Rotor Reaction didn’t disable bridge – fixed
DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Icon
7.13

LMD CANopen OS 7.15

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.13 to 7.15

  1. Added 4th RxPDO and TxPDO
  2. Changed hMTechnology default state from on to off
DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Icon
7.15

LMD CANopen OS 7.16

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.15 to 7.16

  1. Added Index 6077h: Torque demand actual value
  2. Fixed spurious unclearable error interupt*

*Required – Boot upgrade to version 6.12.3

DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Icon
7.16

LMD CANopen OS 7.19

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.16 to 7.19

  1. Improved accuracy of Torque_Actual_Value reading.
  2. FFixed issue of negative torque follwing a HALT command.
  3. Improved timing for temperature readings by 50%.
  4. Allowed changing of NODEID and BAUD via SDO
  5. Default Voltage warning limits changed
  6. Enhanced LED1 power indicator
  7. Additions and enhancements
DependencyCANopen Interface
Applicable toLiberty MDrive CANopen
Icon
LMD 7.19

LMD MCode OS 5.010

Release notes
  1. Removed Calibration Fault from Attention Out bit list
  2. Converted Attention Out/No Aux. Volts to Voltage Warning if VT status is not = 0
  3. Added prevention to stop voltage fault from stopping programs from running.
  4. Added setting an error (96) if Motion attempted while +V out of range.
  5. Added setting an error (94) if motion attempted while drive disabled.
  6. Added stopping motion if Drive is Disable (DE=0).
  7. Fixed Attention Output stall indication.
  8. Fixed save to allow saves while user program running.
  9. Added code to detect NEMA size 17 (42mm) and not test for output faults on O1 and 02
  10. Fixed bug in TR -Trip Relative functionality
  11. Removed restriction on using the Attention Output mask (AO) on Ethernet TCP/IP based Liberty MDrives.
DependencyMotion Control Programmer or Novanta IMS Terminal
Applicable toLiberty MDrive Motion Control, Liberty MDrive Ethernet TCP/IP

LMD MCode OS 5.018

Release notes

Changes Ver. 5.017 to 5.018

  1. Added allowing Trips to be enabled when Address= 0
  2. Set Changed MAX]ILTER_CTto 10000, from 1000 (I Second).
  3. Put AS settings save/restore back into Flash
  4. Used ucNewDir to indicate direction when detecting an active Limit Sw.
  5. Added code to prevent buffer overflow.
  6. Fixed Flash location for Find Flat Value.
  7. Updated Copyright year.
  8. Added code to stop a running program if Print Buffer becomes full.
  9. Added setting port 6 icr to Ox90, in Asic.c for OPS_ DR VSlZE not ? to LMM.
  10. Added code to only stop printing and program when not tracing a program.
Dependency
Applicable to
Icon
5.018

LMD MCode OS 5.013

Release notes

Changes Ver. 5.010 to 5.013

  1. Increased +V MAX, for each drive size, by 1 volt. And, the low voltage warning reduced by 1 volt to11 volts.
  2. Updated copyright date.
  3. Fixed save to allow saves while user program running.
  4. Added code to detect NEMA size 17 (42mm) and not test for output faults on O1 and 02
  5. Fixed bug in TR -Trip Relative functionality
  6. Removed restriction on using the Attention Output mask (AO) on Ethernet TCP/IP based Liberty MDrives.
Dependency
Applicable to
Icon
5.013

LMD MCode OS 5.014

Release notes

Changes Ver. 5.013 to 5.014

  1. Added support for higher speed LMD Ethernet products
  2. Added ability to print the setup of individual IOs by adding line parameter to the PR IS/OS, line, i.e. Pr Is,2 to print the settins of Input 2
  3. Added Ability to print OT
Dependency
Applicable to
Icon
5.014

LMD MCode OS 5.016

Release notes

Changes Ver. 5.014 to 5.016

  1. Added Homing to Shaft Flat after Find Flat initiated.
  2. Updated copyright years.
  3. Added a new variable, FS (Flat Setting), and made it r/w by user.
  4. Fixed UART communication problem created when Ethernet SPI function added.
  5. Fixed a potential move problem.
  6. Modified OUTPUT 1 & 2 Fault detection, such that the error can be cleared, but the Fault has to be cleared by setting OF to 1, 2 or 3.
  7. Output port can now be read. PR Ot, needed for EtherNet
Dependency
Applicable to
Icon
5.016

LMD MCode OS 5.017

Release notes

Changes Ver. 5.016 to 5.017

  1. Fixed homing issue
Dependency
Applicable to
Icon
5.017

LMD MCode OS 6.004

Release notes

Changes Ver. 5.018 to 6.004

  1. Added floating point math functions
  2. Added S-curve accelerations and deceleration types
  3. Additional feature additions: Software limits; home to index offset, backlash compensation
Dependency
Applicable to
Icon
6.004

LMD Pulse/direction 5.005

Release notes
  1. Changes to prevent swapped characters in Print responses.
DependencyPulse/Direction Interface
Applicable toLiberty MDrive Pulse/Direction

LMD Pulse/direction V5.011

Release notes
  1. Fixed 10V range setting for analog input
  2. Fixed inverse direction (ID)function in velocity mode
  3. Converted analog input filter equations to floating point to compensate for the LMD 12-bit ADC.
DependencyPulse/Direction Interface
Applicable toLiberty MDrive Pulse/Direction

LMD Pulse/direction 5.006

Release notes

Changes Ver. 5.004 to 5.006

  1. Fixed option decoding for upper +V limit test via motor stack size
DependencyPulse/Direction Interface
Applicable toLiberty MDrive Pulse/Direction

LMD Pulse/direction 5.008

Release notes

Changes Ver. 5.006 to 5.008

  1. Added code to prevent direction change causing motion to start if STOPPED == TRUE
  2. Modifications to Speed Control mode
  3. Fixed situation where if drive running and disabled, then re-enabled motion starts without ramp
  4. Fixed switching between modes with inputs (Step/Motion, Direction. Bridge Enable) all true
DependencyPulse/Direction Interface
Applicable toLiberty MDrive Pulse/Direction

LMD Ethernet TCP/IP Application

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

The version Liberty MDrive Ethernet Application used will be determined by the model/version, The *.zip file includes all available upgrade files. The version number can be viewed on the lower-right of the TCP/IP Configuration Utility screen.
Download includes Profinet GDS and EIP EDS files.

Check the release version prior to performing an upgrade.

Major versions

2.4.x.x – LMDxE Ethernet TCP/IP models with Kinetis K64 processor (Current version 2.4.0.3)
2.3.x.x – Older LMDxE Ethernet TCP/IP with Kinetis K60 processor

DependencyEthernet TCP Interface
Applicable toLiberty MDrive Ethernet TCP/IP

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