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               FiveCo's FMod-IPECMOT 48/10 T2 README file         
                 	   16-JANUARY-2026

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*            CHECK THE FIVECO WEB SITE FOR THE LATEST           *
*               INFORMATION ABOUT FIVECO PRODUCTS               *
*                     http://www.fiveco.com/                    *
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CONTENTS

1. Introduction
2. Revision history
3. Upgrade sequence
4. Copyright Notice

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1. Introduction

This file is intended to help the user to understand new features,
enhancement and bug corrections of new firmware of the 
motion control device.

The user should upgrade the firmware only if it was told to do it
by a FiveCo's support engineer.

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2. Revision history (only released revisions are commented)


Fw 7.40 (Hw2.8) 2026-01-16
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- Homing with TimeOut bug (only F7.39 concerned) resolved 

Fw 7.39 (Hw2.8) 2025-04-09
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- Same version as 7.38 but with new Hardware 2.8 (add optional I2C bus, I2C adress = low byte if IP adress)

Fw 7.38 (Hw2.5) 2024-05-16
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- Encodeur1 or 2 or Hall position + Options.1=Invert position direction, now with now glitch

Fw 7.32 (Hw2.5) 2023-06-29
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- Add Delta read only register 4B, 0x3F = Consign-Feedback

Fw 7.31 (Hw2.5) 2023-03-08
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- Warning.b12 OverCurrent(StopIntegrator) = 0 in regulationMode= Stop (Brake) or Open (Free)

Fw 7.30 (Hw2.5) 2021-04-21
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- Bootloader v2.4 (BIOS) update for old devices
- Loops peak current not all time

Fw 7.25 (Hw2.5) 2019-12-13
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- Internal faster code for limit actions

Fw 7.24 (Hw2.5) 2019-11-19
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- Reduced CPU performance for logic 5V <4.44V glitch, (previous <4.77V)
- Auto Homing @ startup wait for no Undervoltage (Warning bit)
- Limits wait for Homing finished (issue when UnderVoltage)
- Limits chg RegulationMode only 1x per newState, to accept SleepMode

Fw 7.20 (Hw2.5) 2019-03-15
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- Upd of Bootloader 2.4, each 1KB erase, write, verify progression

Fw 7.19 (Hw2.5) 2019-02-13
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- New Loops management, add LoopsOptions bit 2 cmd (0=loops range, 1=absolute)
- new cmd 0x72 LoopsRangeOutSidePositionInput, 0x73 LoopsRangeNewInput
- new goal range for loops, range in Input space when inside Deadzone

Fw 7.16 (Hw2.5) 2019-01-24
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- Better spd interpolation near 0p/s, less oscillations
- Brushless motor, Encoder failure detected with hall sensors->brake mode

Fw 7.14 (Hw2.5) 2018-10-23
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- Add register 0x57 ComWatchDog 4B

Fw 7.11 (Hw2.5) 2018-04-10
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- New LoopsInput Counter mode LoopsRangePosition and LoopsRangePositionInput

Fw 7.09 (Hw2.5) 2018-01-03
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- Better management of controler undervoltage

Fw 7.06 (Hw2.5) 2017-12-06
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- Faster TCP/IP, typ 700us, 150us gain (Resquest + answer)
- Enable input action to internal short-circuit phases relay (IOstate actions)
- More secured EEProm writes
- More precise Voltage Input measure (+0.15V @ 48V)

Fw 7.05 (Hw2.5) 2017-08-16
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- Linear Dead Zone [-1,0,1] near goal spd consign= 0

Fw 7.03 (Hw2.5) 2017-07-31
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- add Index value in Warning register
- correct bug Homing not working

Fw 7.02 (Hw2.5) 2017-07-27
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- Add bit OPTIONS.12  Linear Deadzone

Fw 7.01 (Hw2.5) 2017-03-23
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- Autocalibration for CurrentSence

Fw 7.00 (Hw2.5) 2017-03-06
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- Web java-applet 4.1
- Initial version of this document
- Common version for all driver EC or DC mot
(I2CDCMOT DB & SLP, IPECMOT T1 & T2, I2c485ECMOT)
- Add predictive regulation, VffOffset, Kvff, Kaff, Kdff
- x10 speed interpolation OPTION bit replaced by x1-x4-x8 AUTO-interpolation
- Add IOState, IOCfg (even if no hardware pins exist)
- Add Synchronous trajectories with TrackPosition, KppTrack, TrackMaxSpd


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3. Upgrade procedure

1) Unzip FMod-IPECMOT_T2_Fx_x_W_x_x.zip
2) Connect FMod-IPECMOT-T2 to your network.
3) Start "FWUpgrader.exe".
4) Give IP address of the module.
5) Click on "Change *.bin file" button and choose the file with
   the new firmware "FMod-IPECMOT_T2_H2_x_Fx_x.bin" (F=firmware,H=hardware)
6) The upgrade sequence deletes actual web page on the module.
   Click on "Change *.web file" button and choose the "FMod-IPECMOT_Wx_x.web"
   file present in zip file.
7) Click on "START" button. Upgrade start.
   BEWARE : Do not unplug ethernet cable or power cable during 
   process!
8) Following result should be displayed :

Start upgrade.
Check actual firmware version.
Upload bin file.
Bin file uploaded succesfully.
Uploaded bin file check.
Test => OK
Activating bin file.
Reseting processor.
Flashing.
Read new firmware version.
Uploading web file.
Web file uploaded succesfully.
Upgrade finished successfully.

That's it !

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4. Copyright Notice

Software, documentation and related materials:
Copyright (c) 2002-2026 FiveCo
All rights reserved.