Firmware & EDS

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

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

Release notes

1. Updated copy write information to reflect brand transition

Release notes

1. Updated copy write information to reflect brand transition

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

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.

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

Release notes

Initial Release

Release notes

1. Fixed data integrity checks on startup.
2. Fixed problem with analog input, with center set, not changing direction.

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.

Release notes

Release notes

1. Performance optimization
2. Remote encoder filter and range modified

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

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

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

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

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

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

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

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

Release notes

Release supporting updates for Liberty MDrive products

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

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

Release notes

Release supporting updates for Liberty MDrive products

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

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

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

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.

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!

Release notes

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.

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.

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

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.

Release notes

Release notes

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.

Release notes

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 .

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 .

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 .

Release notes

Release notes

Release notes

Release notes

Release notes

Release notes

Release notes

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

Release notes

Release notes

Release notes

Release notes

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).

Release notes

Release notes

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

Release notes

Changes Ver. 7.13 to 7.15

1. Added 4th RxPDO and TxPDO
2. Changed hMTechnology default state from on to off

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

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

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.

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.

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.

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

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

Release notes

Changes Ver. 5.016 to 5.017

1. Fixed homing issue

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

Release notes

1. Changes to prevent swapped characters in Print responses.

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.

Release notes

Changes Ver. 5.004 to 5.006

1. Fixed option decoding for upper +V limit test via motor stack size

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

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