Seed Robotics Firmware for: - SR-DH4D model - SR-RH4D model Firmware version: 11 Release Date 22 June 2016 Installation Instructions: Please refer to the Seed Robotics Knowledge Base http://kb.seedrobotics.com Update remarks: This update addresses bug fixes in the previous firmware release (V10). - If you running firmware version 10, this update is considered RECOMMENDED. - If you are running version 9 or newer, this update is cumulative and is considered CRITICAL. Please refer to the Version History to find all the cumulative changes included in this version. Backwards compatibility assurance: If you are upgrading from version 9 or newer, please refer to the Version History below. This firmware update is cumulative so all notes, fixes and remarks of previous versions apply. If you are upgrading from version 10 there are no functional changes. Prerequisites: None - May be installed over any previous version. - The behavior when installing over a future version (downgrading) is not specified. In case of doubt, contact Technical Support. Bug fixes: - After upgrading to version 10 the Present Position reading was reporting the position with too much noise. This version fixes this issue by restoring the filters present in version 9 and earlier. - After upgrading to version 10, the Palm Optical Distance Sensor readings were responding slowly to environment changes. In this version the filters were adjusted for faster response. New features: NONE ------------------------------------------------------------------------- VERSION HISTORY ------------------------------------------------------------------------- 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 bug fixes, one of which is considered CRITICAL. This update is highly recommended. This update includes 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 bug fix 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 versions prior to version 9). If you wish to enable 4095 (12 bit) resolution mode, after the firmware update, please check the Seed Robotics Knowledge Base for information on enabling this option. Prerequisites: None - May be installed over any previous version. - The behavior when installing over a future version (downgrading) is not specified. In case of doubt, contact Technical Support. Bug fixes: - 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 behavior has now been fixed to mimic the behavior 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 favor of SYNC_WRITE for most cases. - Extended Console commands: - Introduced the Seed Robotics SHSP Protocol allowing manipulation of all control tables through the USB connection or Bluetooth connection. - General improvements in Console Output and processing of commands. Please refer 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 colors extended with color coding to signal pre failing motors and motors requiring replacement. For more information refer 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 bridge when building multi interface solutions: for example sending commands to the hand over Bluetooth that write on the shared memory positions, and then have the main system (on the wired connections) read them to either react or exchange information.