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					                                                                          CD series 5, UCB2 Firmware LOG


Version   Ignite   MLink   SEPLink   Date                                                                                                       Firmware status/ECO                                       Date of
                                                                                                                                                                                                          release
7.2.1     2.0.6    4.5.2   1.3.3     April 6, 2005    1) Range for A/B out of range for sine encoder feedback was set to 0x4400.                ECO 720 18/april/2005                                     May 2005
                                                      2) Filter on A/b out of range was set to detect fault on 3 sequential fault conditions.
                                                      3) Bug fix: MISPEED0 did not affect on division moves till next power up.
7.2.2     2.0.6    4.5.2   1.3.3     April 25, 2005   1) Due to complaint on enc sim burst after power up the delay that was introduced in
                                                      order to allow the resolver filter to settle before enc sim is enabled was increased
7.2.3                                June 20, 2005    From: Zweig, Avishay                                                                      This version passed only partial tests.
                                                      Sent: Thursday, June 23, 2005 3:26 PM
                                                      To: Kay, Bill; Lineberry, Tom
                                                      Cc: VanGelder, Dany
                                                      Subject: RE: Cinti Machine A1 faults
                                                      …..not sure this is the solution for the root cause, but I do hope it is.
                                                      The description of the modification (captured from the history file):
                                                      The positive analog supply is monitored during power up. If out of tolerance, the
                                                      firmware enters infinite look, displaying flashing A1.
                                                      The change in this version is to limit the time of monitoring the positive analog
                                                      supply to 6 seconds. Continue even if the fault exists, but latch it.
                                                      This fault, after being latched, can not be cleared.

                                                      1) Support for UVTIME in UVMODE 3 was added.
7.2.4                                June 23, 2005    The positive analog supply is monitored during power up. If out of tolerance,
                                                      the firmware enters infinite look, displaying flashing A1. The change in this
                                                      version is to limit the time of monitoring the positive analog supply to 6
                                                      seconds. Continue even if the fault exists, but latch it. This fault, after being
                                                      latched, can not be cleared.
7.2.5                                                 From: Freidin, Boaz Sent: Monday, June 20, 2005 12:57 PM                                  From: Zweig, Avishay
                                                      To: VanGelder, Dany Cc: Zweig, Avishay                                                    Sent: Wednesday, June 29, 2005 9:01 AM
                                                      Subject: RE: UCB2 Notify mechanism 15 June 2005                                           To: Freidin, Boaz
                                                      UCB2 bug - OPMODE4-Limit Switches:                                                        Cc: VanGelder, Dany; Dabora,Yuval
                                                      Version – 7.2.1                                                                           Subject: RE: UCB2 Notify 23 June 2005
                                                      Not possible to get out from the limits to the opposite direction in OPMODE 4.            Yuval fixed this problem. He verified it on his system.
                                                      Possible in OPMODE 8 and OPMODE 0, but not in OPMODE 4.                                   The version with the fix is on his PC….
                                                      Need solution ASAP – customer is waiting.
                                                                                                                                                From: Freidin, Boaz
                                                      1) OPMODE 4 bug - when drive enters hold PE becomes 0 , which makes                       Sent: Friday, July 01, 2005 10:06 AM
                                                      getting out of a limit switch                                                             To: Dabora,Yuval; Zweig, Avishay
                                                        impossible without losing position                                                      Cc: VanGelder, Dany
                                                      2) ZPOS bug - zpos index parameters were not updated after a chnage in                    Subject: RE: UCB2 Notify 23 June 2005
                                                      MSININT (worked ok after power up)                                                        Talked with the customer yesterday evening:
                                                                                                                                                The bug is fixed and the system works perfectly!
                                                                                                                                                Thanks, Boaz




           3763238c-c318-44b6-813a-98479a96aa09.doc 31/12/11 servotronix for internal use only
                                                                 CD series 5, UCB2 Firmware LOG


7.2.6                                        1. fix: In SERCOS, in case of MDT error firmware used corrupted data.
                                                 In addition: in case of MDT error, firmware extrapolates position and velocity
                                             commands.
                                             2. Range for MFOLDR changed to be from 1 to 3600.
                                             3. fix: In MENCTYPE=10 change of PRD direction by MFBDIR did not caused to
                                             commutation
                                                 initialization, this is caused to incorrect commutation.
                                             4. Initialize serial communication buffers at the end of the initialization process.
                                             5. Fix: in swr2d and encoder simulation - the swr2d tracking filter takes time to
                                             stabilize after power up. During this time the encoder simulation module
                                             generates false pulses. In order to avoid that, a delay was introduced that waits
                                             till the tracking error is stabled (there is a timeout for
                                                 this delay). During this time the encoder simulation module is off.
7.2.7                        Sep 01 2005     From: Zweig, Avishay                                                                    From: Dan Warren [mailto:dwarren@motorsystems.com]
                                             Sent: Thursday, September 01, 2005 2:57 PM                                              Sent: Thursday, September 01, 2005 3:32 PM
                                             To: Crockett, Steve                                                                     To: Zweig, Avishay
                                             Cc: Coleman, Jim; Zilker, Eyal; White, Bob; Graff, Dave; Kay, Bill; VanGelder,          Cc: Matthews, Gene; Crockett, Steve; Graff, Dave
                                             Dany; Matthews, Gene; Dabora,Yuval                                                      Subject: RE: {Disarmed} FW: ServoStar CD encoder output
                                             Subject: RE: {Disarmed} FW: ServoStar CD encoder output                                 ….
                                             ….                                                                                      I installed and tested the new firmware this morning, It
                                             Yesterday we had a conversation with Dan Warren. It turned out that the extra           seemed to correct the problem, the motor does not jump
                                             encoder output pulses are not at the time of power cycling. The extra pulses            when reset, and the motor returns to the same physical
                                             occurred when a fault (in this case - foldback fault) was cleared. We reviewed          position.
                                             the code and found out that we reset the resolver filter at the end of the clear
                                             fault function, even if the fault was not a resolver fault. We fixed this point in
                                             version 7.2.7 (attached). In version 7.2.7 the firmware resets the resolver filter on
                                             fault - only on resolver fault.


              Last approved version for UCB2 is 6.5.8, ECO 552.
              Last approved version for UCB2 type B is 7.2.1, ECO 720.

        Ucb2_hst.txt – firm ware history, maintain by drive team.
        This doc, maintain by dany vg.
        CDGSDRV.doc – ordering documentation, maintain by Bill K
        FW Table V1.xls – Firmware table maintain by Miri D
        STX index V17.XLS – Servotronix ordering number vs internal part number, maintain by Miri D




        3763238c-c318-44b6-813a-98479a96aa09.doc 31/12/11 servotronix for internal use only

				
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