Seed Robotics Firmware for: - SR-DH4D model - SR-RH4D model Firmware version: 10 Release Date 6 June: 2016 Installation Instructions: Please refer to the Seed Robotics Knowledge Base http://kb.seedrobotics.com Update remarks: This update addresses two bugfixes, one of which is considered CRITICAL. This update is highly recommended. This update incldues new features. Backwards compatibility assurance: - When upgrading from previous versions, the Return Delay Time parameter will be automatically set to 0, to ensure the unit will continue to perform with the same Return delay times as previous versions (i.e. return as soon as possible). This is in compliance with the bugfix included in this release that changes the interpretation of this parameter. - When upgrading from __versions 8 or older__ the parameter "Enable 4095 (12 bit) resolution" will be set to 0 (disabled). This ensures there is no compatibility break, as these units will continue to work in the resolution of their original firmware (10 bit, in all version prior to version 9). If you wish to enable 4095 (12 bit) resolution mode, after the firmware update, please check the Seed Rootics Knowledge Base for information on enabling this option. Prequisites: None - May be installed over any previous version. - The behaviour when installing over a future version (downgrading) is not specified. In case of doubt, contact Technical Support. Bugfixes: - Setting the Return Delay Time parameter to 0 would cause the unit to stop responding. In all previous versions, this parameter was interpreted as a Timeout to send the reply. Replies were always sent as soon as possible and if they could not be sent within the Return Delay time, the unit would be silent. This behaviour has now been fixed to mimic the behaviour of Robotis servos: this parameter is now treated as virtually induced delay before sending the reply. This means that for the fastest reply possible, as of version 10 this parameter should now be set to 0, in the same manner as Robotis servos. This fix should improve compatibility with PyPot where the issue was surfacing the most. - The Temperature reporting in the control table now reports the normalized temperature in Degrees Celsius New features: - Added support for SYNC_WRITE and BULK_READ instructions in the Dynamixel 1.0 protocol - Support for REG_WRITE and ACTION also added for compatibility reasons, even though these are deprecated in favour of SYNC_WRITE for most cases. - Extended Console commands: - Introduced the Seed Robotics SHSP Protocol allowing amniupaltion of all control tables through the USB connection or Bluetooth connection. - General improvements in Console Output and processing of commands. Please reffer to the Seed Robotics Knowledge Base for more information on the full console features. - Introduced Motor Health check capabilities: - Controlled power up of motors for improved diagnostics - Motor Health Index now provided through the console 'did' command - LED Status colours extended with color coding to signal pre failing motors and motors requiring replacement. For more information reffer to the Seed Robotics Knowledge Base. - Addition of Shared Memory positions in the Control Table of the Virtual Actuator - 3 Bytes (3 memory addresses) can now be written and read on the Virtual Table of the control actuator. - The purpose of this feature is to serve as a brigde when building multi interface solutions: for example sending commands to the hand over Bluetooth. that write on the se positions and have the main system (on the wired connections), read them to ether react or exchange information.