Errata/Change list. For info regarding earlier version changes, please contact Simplex Motion. 1 Version 0126 2020-11-11 1.1 Behaviour change of MODE Speed 32 & Speed_Ramp 33. 1.1.1 Now speed is main criteria for regulation if blocked or unable to maintain speed, torque is second criteria. Before position was main criteria for regulation this could result in high speeds if motor needed to catch up. 1.2 Bug 1.2.1 PID regulator anti-windup implementation changed, since integral sum could be affected by large derivatives in regulator error. 1.2.2 SC series, Change in pin config to sense HW locked & added error code 0x411. Could cause state where motor freezes if low voltage or if motor is rotated before hardware has been initiated. 1 Version 0127 2020-12-18 1.1 New feature with heating control of motor for low temperature applications. 1.2 New parameter set with new parameters 1.2.1 #105 Controls heating functionality 1.2.2 #110 For future functionality to handle overvoltage 1.2.3 #212 For future options on motor control, such as changing rotational direction. 1 Version 0128 2021-01-01 1.1 Behaviour change of MODE 50 Sequence control of position by ramp control 1.1.1 Reg <500> SeqControl bit 1: If “Delay mode” is set, time starts to decrement when position is reached. If Delay is off, time starts to decrement when move is initiated. If for example torque is limiting the speed of the move, the time could reach 0 and the next step in the sequence is started before current movement is finished. 1.1.2 Reg <500> SeqControl bit 2-3 “Time Scale”, if bit2 and bit3= 0 sequence time is in msec, if bit2= 1 and bit3= 0 time is in sec, if bit2=0 and bit3= 1 time is in minutes. 1.1.3 Reg <500> SeqControl bit 4 “Repeat”, if set, sequence will continue regardless if sequence time = 0. If "Repeat" is off, time = 0 will end the sequence. 1.2 Changed SeqTime limit for Mode 50. 1.2.1 Time had a limit of 32ms, changed to full unsigned 16bit value and scaling, See Reg <500> SeqControl 1 Version 0129 2021-01-12 1.2 Changes to application control: 1.2.1 register changed from unsigned to signed 16 bit to allow error codes as negative numbers. 1.2.2 Now ApplInit() is called at reset ( = 1) as well as at cold start 1.3 The over voltage protection feature is now faster to switch off the motor in case of high supply voltage. 1.4 MPLAB project post build script has been changed for SC series to use hexmate to remove configuration bits. This makes the bootloader verify the firmware correctly while also allowing ICD3 debugging with the same project. 1.5 New feature for Overvoltage control that dumps energy into the motor winding as heat when overvoltage is detected. This feature is not fully operational yet, as it may cause unstability. 1.5.1 #110 controls feature: 0 = disabled, 1 = enabled. 1.6 Fixed issue in Motor speed calculation for high acceleration/speed. 1.7 Changed motor calibration to use configured motor Io to improve motor constant measurement. 1 Version 0130 2021-03-15 1.1 Implementing Encoder output feature for SC-series motors. 1.1.1 On SC-series motors hardware is shared between Encoder output and advanced digital output functions on pins INOUT3/4. 1.1.2 If conflict in hardware usage appears error code 0x20 will be shown, but functionality is undefined. 1 Version 0130 2021-04-01 1.2 Added Mode 23 Rotary. 1.2.1 Rotary mode, parameters to define start stop value for position, reg 470 & 472 . 1.3 Added parameter. 1.3.1 Parameter to add a relative value to reg 450 , 448 . 1 Version 0132 2021-09-10 1.1 Changed how current measurement scale is handled. 1.2 Fixed bug concerning writing to 1.3 Fixed wrong register access for setting LED outputs 1.4 Changes made to SC040B PID parameters. The previous parameters could in some cases have impact on the motor regulation. 1 Version 0204 2021-10-12 1.1 As of version 02XX, the Modbus communication is improved to ensure speed and stability. Users upgrading from version 01XX need to update Modbus communication cables by swapping A and B (IN7 and IN8) 1.2 Added Auto invert functionality to reg 52 Control (Bit7), On by default 1.3 The resolution of the motor position sensor can now be set between 12 an 14 bits 1.4 Encoder output error minimized by speed feedforward compensation 1.5 Speed is added to the Sequence Control mode. 1 Version 0206 2021-11-16 1.1 Stepped up parameter revision number to ensure factory default settings at FW upgrade enables Modbus Auto invert.