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#	Firmware history Schunk Motion Protocol  (SMP)                 #             
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V1.56
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Release date 19.06.2012

Changes:

- call StartPWMBlock when searching with hall sensors (Bootstrap)
- don't set posOffset to '0' when changing MotorDir or PosSystemDir and resolver
- fixed polling communication when error happened and sequence mode is active

V1.55
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Release date 11.05.2012

Changes:

- Parameter motion threshhold can changed with "profi" rights
- Referencing refactored
- new internal safety control
- changed timing when using resolver
- Parameter Code (CHECK_MC_PC_COMMUNICATION, CHECK_PC_MC_COMMUNICATION) fixed
- using OTP memory 
- dedecting changing form indexpulse to refernce switch
- Indexpulse can enabled and disabled 
- last error can read out with advanced rights
- diagnosis interface simplified (Profi Bus)
- more detailed error Information

V1.50
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Release date 18.01.2011 

Changes:

- Extention for multiple axis systems using an ID (axis index) 
	- DIO_AXIS
	- GET_STATE_AXIS
- Extended parameterization (GET_CONFIG_EXT, SET_CONFIG_EXT) 
- Intruduction new temperature monitoring (temperature warning threshold) 
- Detection of overshoots (ERROR_OVERSHOOT) 
- Introduction of option continuous position feedback via Profibus 
- Possibility of MOVE commands without parameters 
	- SET_TARGET_POS
	- SET_TARGET_POS_REL
- Adjustment generation of the status bits „Move Blocked“ and „Moving“ 
- Feedback brake flag optimized  

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V1.41 
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Release date 15.03.2010

Changes:

- Sine pointer search optimized 
- Controller reset optimized 
- Compiler settings for STM optimized

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V1.40 
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Release date 15.12.2009

Changes:

- All controllers desigend as PID controller
- Function hardware limitation sensors deactivated 
- Automatic reconstruction of previous movement parameters after 
  referencing
- Correction range error of IQ mathematics (ERROR_MATH) 
- Introduction own firmware for STM 
- Adjustment data CRC calculation

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V1.31
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Release date 15.05.2009

Changes:

- Possibility for program mode via digital I/O 

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V1.24
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Release date 19.11.2008

Changes:

- Adjustment status bit Profibus 
- Adjustment setting parameter target current  
- Extendend function „pseudo absolute encoder“ (Hardware V5.3)
- RS232 deadlocks removed

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SCHUNK GmbH & Co. KG
Support-Team Mechatronik
Bahnhofstr. 106-134
D-74348 Lauffen/Neckar