ver 2.23 14 Jan 2021 AD Improvements: - Added commands 100 and 101 for factory testing. - Handling of CRC-errors from Absolute encoders improved. - Support for brake burn-in activation via command. Fixes: - Startup issue with abs.enoder flash backup fixed. V2.23 is more robust against electrical noise, so if you experience false overspeed errors, we recommend that you update from v2.22 to v.2.23. ---------------------------------------------- ver 2.22 24 Mar 2020 AD New features: - Support for MAC3000-Gx motor series. - Support for reading the full product key as a string, like MAC3000-G2-FAAL-A025. - Support for 64 times higher resolution of velocity and acceleration setpoints. Results in better than 0.01 RPM. NOTE: This also allows a larger working range in Position mode. Please ask JVL for full documentation. (HiRes Vel/Acc will not work in Gear mode or dispenser mode) - New system to dynamically adjust the Load Factor depending on actual velocity to avoid oscillations with mainly belt drives. - Added option of 10 and 20 kHz PWM switching to motors with default 5 kHz switching frequency, to reduce audible noise. Note motors will be much warmer, and CANNOT deliver rated power without overheating when this feature is enabled. - Added option for Silent Mode, that softens the current regulation at the cost of (potentially much) lower dynamic response and efficiency. For use in sensitive audio environments. Not supported on MAC800 and standard MAC400. Improvements: - Support MAC4500-Gx motors. - Better handling of return energy for the MAC402 motor. - Shows Build number and FPGA version in Reg253, 254. - Re-introduced time to re-calibrate current measurements offsets when switching from passive mode to active modes. - Supports two differnet sample points for Ethernet SYNC operation to support more types of PLC Ethernet masters. - Increased the amount of energy the internal brake resistor can receive (MAC1500, MAC3000, MAC3000G, MAC4500 only). - Improved handling of sporadic encoder noise in velocity measurement. Fixes: - Using heavy communications, mainly over Ethernet, with Scope data no longer causes jumps in motor movements. - MacTalk,Modbus RS485 communications on MAC00-B42 modules fixed. - Supports faster read/write of on-the-fly scaling parameters. - Better timeout monitoring of ePLC serial communications. - The system can now start up after reset with an Ethernet module also when on-the-fly scaling for Modbus is enabled. - Now supports all baud rates 9600 through 1.000.000 using RS485 on MAC00-B41/B42 also with MAC800/MAC1000/MAC1200. - Fixed an extra turn when using Rotary Table mode. - Fixed a rare problem (seen in-house only) with startup of the ePLC program. - Edge detection on digital inputs in the ePLC program now optimized to work with latest hardware. ver 2.20 and ver 2.19 3 Jan 2020 and 14 Dec 2019 AD These releases were recallled due to long startup time and false UIT errors. ---------------------------------------------- NOTE: Beginning from release v2.19, these releasenotes will have the same text for all motor types. Previously each motor type described changes only relevant for its model. ---------------------------------------------- ver 2.18 28 May 2018 AD Improvements: - TrueRMS calculation for scope channels supported. Fixes: - MacTalk->Modbus change-over after reset fixed. - Register P_QUICK update fix for absolute encoders. ---------------------------------------------- ver 2.17 24 April 2018 AD Improvements: - Improved FPGA timing at higher temperatures. ---------------------------------------------- ver 2.16 BETA 28 Mar 2018 AD New features: - Added functions to read and write to+from registers in other motors over Modbus from the eRxP program. - Support for high speed position capture on both analog inputs ANINP1 and ANINP2, rising+falling edge/level. - Supported options to save Engineering units/text in the motor to better support register scaling in MacTalk. - Option bit 24 in Reg236 selects to enter START_MODE automatically when both STO signals are again present - without required restart/reset. - Option bit 25 in Reg236 selects to enter START_MODE automatically when AC power is applied - also if AC power wasn't present during reset or 24V power on. - Added a bit-for-bit user defined register for efficient support of new EtherNet protocol options. This includes another proprietary Modbus configuration telegram type. - Added a fixed-mapping register with Mode/ActVelocity/ActTorque for communications optimization. - Added option to automatically set mode to StartMode after STO (SafeTorqueOff) returns or AC supply returns. - Added option to handle starting in active modes also when AC suplpy comes after the 24 Vdc control voltage supply. Improvements: - Protection so writing velocity filter values while motor is in active mode will take effect only after next switch from passive to active mode. - Debug system to make the motor shaft perform sinusoidal movement for low-noise stress test. - Added an alternate time-slice to execute SPI communications the EtherNet modules to support more EtherNet master PLCs. - Rotary table option now also works with Ethernet modules over the internal 20 Mbit interface and the eRxP/embedded nanoPLC. - The rotary table range calculation and limits are now updated continuously. - Added a much faster and versatile MacTalk protocol option to read/write register on-the-fly scaling/scope/... values. - Any attempt to perform zero search with an Absolute encoder with the option to continue until at index poulse has been seen, now behaves as if the Use Index Pulse was not selected. Fixes: - Fixed an issue with Ethenet->motor high-speed communications to support mainly EtherCat 1 us Sync option. - Fixed an error with index homing introduced in FW v2.12. - Diagnostics values for errors now correctly zeroed after reset. - Fixed that the command to reset all register scaling now will cause saving to flash memory next time. - Fixed an issue where long eRxP calculator operations involving division could impair the movements, ---------------------------------------------- ver 2.15 21 Feb 2017 AD Improvements: - This release has no changes visible to the user. It was made only to improve factory testing and service. ---------------------------------------------- ver 2.14 7 Jan 2017 AD Improvements: - Further reasons for Peak/Overcurrent Error added for diagnostics purposes. - Higher Peak torque for motors with FOC current control. Fixes: - The start-up mode register could get a wrong value, and thus the motor could start in a different mode than configured. ---------------------------------------------- ver 2.13 8 Dec 2016 AD - This release fixes some encoder checks that were made too strict in the v2.12 release, and would give false encoder index errors on some motors. ---------------------------------------------- Contact JVL for earlier revision history if needed ----------------------------------------------