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Firmware & EDS

Released Firmware

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LMM MCodeOS 6.013

Release notes
Schneider Electric Motion USA (SEM) has issued an update to Programmable Motion Lexium Motion Module products utilizing firmware version 6.012. This change includes general updates and bug fixes. There is no known impact to product’s form, fit, or function; however, users should evaluate these changes in their systems.
Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium Motion Module Motion Control
Release date July 22, 2019
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6.013

LMD MCodeOS 6.013

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.

Tutorial

Upgrading the Lexium MDrive MCode OS Firmware

Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive Ethernet TCP/IP
Release date July 22, 2019
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6.013

LMD Ethernet TCP/IP Application 2.4.0.5

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Release supporting updates for Lexium MDrive products

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

Dependency Ethernet TCP Interface
Applicable to Lexium MDrive Ethernet TCP/IP
Release date July 24, 2019

LMD MCode OS 7.004 for Absolute Encoder

Release notes
Update Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.
Changes 7.003 to 7.004

Tutorial

Upgrading the Lexium MDrive MCode OS Firmware

Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive CANopen, Lexium MDrive Ethernet TCP/IP
Release date December 6, 2018

LMD CANopen OS 7.23.12

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
Release date October 25, 2018
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7.23.12

LMM CANopen OS 9.20

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Initial Release
Dependency CANopen Interface
Applicable to Lexium Motion Module CANopen
Release date June 21, 2016
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LMM 9.20

MDrive Speed Control (MDO) 3.006

Release notes
  1. Fixed data integrity checks on startup.
  2. Fixed problem with analog input, with center set, not changing direction.
Dependency SPI Motor Interface
Applicable to MDrive Speed Control
Release date July 16, 2015

MDrive Ethernet Application

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Ethernet Application contains the EtherNet/IP, MODBUS/TCP and Mcode over TCP. Special considerations are required when updating such as Windows Firewall settings. See this Application Note for upgrade instructions. The following software is required to install this firmware: >Download Ethernet TCP Configuration Utility
Dependency Ethernet TCP Interface
Applicable to MDrive Ethernet TCP/IP
Release date May 13, 2013

MDrive/MForce MCode OS V3.014

Release notes
  1. Fixed display problem of VI and VM when EE=1 and result is divided by fEE_Ratio, by adding a round up to the equation.
  2. Fixed display problem of V when EE=1.
  3. Fixed display problem of V when EE=0.
  4. Fixed Fix to test EE_Flg.
  5. Added error (41) if try to List while program running.
  6. Fixed Tr with holds for time.
  7. Added line delay for listing with IP. (50mSec if option set for Ethernet).
Dependency Motion Control Programmer or SEM Terminal
Applicable to MDrive/MForce Motion Control, MDrive Ethernet TCP/IP
Release date October 25, 2012

MDrive/MForce Step/direction 3.005

Release notes
  1. Fixed problem when trying to change the PWM settings.
  2. Changed MForce PWM settings. moved to data sectors
  3. Fixed upgrade function
  4. Changed FAULT function from over-current to over-temp.
  5. Fixed how datd integrity is checked at power on.
Dependency SPI Motor Interface
Applicable to MDrive/MForce Step/direction
Release date August 8, 2013

LMD Pulse/direction V5.011

Release notes
  1. Fixed 10V range setting for analog input
  2. Fixed inverse direction (ID)function in velocity mode
  3. Converted analog input filter equations to floating point to compensate for the LMD 12-bit ADC.
Dependency Pulse/Direction Interface
Applicable to Lexium MDrive Pulse/Direction
Release date November 9, 2018

MDrive Speed Control 3.005

Release notes
Dependency
Applicable to
Release date

MDrive/MForce CANopen OS 5.54

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Performance optimization
  2. Remote encoder filter and range modified
Dependency CANopen Interface
Applicable to MDrive/MForce CANopen
Release date September 25, 2015

Firmware Archive

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LMD MCode OS 7.002 for Absolute Encoder

Release notes
Initial Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.
Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive CANopen, Lexium MDrive Ethernet TCP/IP

LMD Ethernet TCP/IP Application 2.4.0.4

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Release supporting Absolute Encoder functionality updates for Lexium MDrive products with a multi-turn absolute encoder

Tutorial

Learn how to upgrade the Ethernet TCP/IP Application!

Dependency Ethernet TCP Interface
Applicable to Lexium MDrive Ethernet TCP/IP

LMD MCode OS 7.003 for Absolute Encoder

Release notes
Update Release of support for Absolute MDrive. Note that this firmware is for LMD models with a multi-turn absolute encoder only. Absolute encoder products are identified by the character A in the fourth place of the part number for example LMDAM572.
Changes 7.002 to 7.003
  1. Fixed reading and writing to the Absolute Encoder.
  2. Increased the maximum Absolute Encoder operating voltage range to 5.9.
  3. Updated Copyright Dates.

Tutorial

Upgrading the Lexium MDrive MCode OS Firmware

Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive CANopen, Lexium MDrive Ethernet TCP/IP

LMD CANopen OS 7.23.4

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
  1. Fixed issue with node-guarding and heartbeat.
  2. Enhancements to prevent sync message overflow.
  3. Fixed Run Current register overrun bug.
  4. Fixed missing heartbeat bug.
  5. Fixed bug occurring when moving into a hard stop with hMT on.
  6. Added ability to input a quadrature encoder signal on inputs 3 and 4.   Documentation
  7. Fixed bug with Tx messages not sent under certain conditions.
  8. Fixed issue with LED2 not clearing following a node guarding or lifeguarding event.
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
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7.23.4

LMM MCodeOS 6.012

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.
Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium Motion Module Motion Control
Icon
6.012

LMD MCodeOS 6.012

Release notes
  1. Added % torque to the reading of TQ.
  2. Added turning off the drive enable input upon loss of +V.
  3. Added a 250 mS delay before re-enabling drive following power loss if DE=1.
  4. Fixed bug when saving options.

Tutorial

Upgrading the Lexium MDrive MCode OS Firmware

Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive Ethernet TCP/IP
Icon
6.012

LMM MCodeOS V6.010

Release notes
  1. Added updating internal Accel/ Decel tables when changing A or D and EE=1.
  2. Fixed code to keep 01 and 02 from pulsing on Ctrl-C (reset) or Power On.
Dependency
Applicable to Lexium Motion Module Motion Control
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LMM 6.010

MDrive Speed Control (MDO) 3.004

Release notes
Dependency
Applicable to

MDrive Speed Control (MDO) 3.005

Release notes
Dependency
Applicable to

LMD MCodeOS V6.010

Release notes
Changes Ver. 6.008 to 6.010 1. Added updating internal Accel/ Decel tables when changing A or D and EE=1. 2. Fixed code to keep 01 and 02 from pulsing on Ctrl-C (reset) or Power On.
Dependency
Applicable to
Icon
LMD 6.010

LMM MCodeOS V6.008

Release notes
Dependency
Applicable to
Icon
LMM 6.008

LMD MCodeOS V6.008

Release notes
Changes Ver. 6.007 to 6.008
  1. Fixed List to support VA xx = y. (missing equal sign).
  2. Changed AV to be able to be read all of the time. Compensated value for when EE=0.
  3. Added new mnemonic, RP Referenced Position. Indicates position reference (P set to a value).
  4. Fixed BL to display and save BL properly, depending on the state of EE flag.
  5.  Modified conversion of Backlash when printing BL when EE=1 .
Dependency
Applicable to
Icon
LMD 6.008

LMD MCode OS 6.006

Release notes
Change Log 6.006 to 6.007
  1. Corrected an issue occurring when SL V1 then SL V2; when V2 > V1.
  2. Corrected an issue occurring with MA / SL when AS=0.
  3. Corrected an issue occurring during a Move on Move,, Slew on Slew or Slew on Move.
  4. Corrected an issue with the VC flag during velocity change.
  5. Corrected an issue occurring when trying to indirectly set an array with via pointer greater than the array size.
  6. Corrected an issue impacting detection of invalid array pointers.
  7. Updated Copyright year to 2017
  8. Added a test to prevent sending MA <position> multiple times while still moving to the previous commanded position,
  9. Corrected an issue regarding the outputting of Encoder on O1 and O2 .
Dependency
Applicable to
Icon
6.006

LMM MCodeOS V6.007

Release notes
Dependency
Applicable to
Icon
6.007

LMD MCodeOS V6.007

Release notes
Change Log 6.006 to 6.007
  1. Corrected an issue occurring when SL V1 then SL V2; when V2 > V1.
  2. Corrected an issue occurring with MA / SL when AS=0.
  3. Corrected an issue occurring during a Move on Move,, Slew on Slew or Slew on Move.
  4. Corrected an issue with the VC flag during velocity change.
  5. Corrected an issue occurring when trying to indirectly set an array with via pointer greater than the array size.
  6. Corrected an issue impacting detection of invalid array pointers.
  7. Updated Copyright year to 2017
  8. Added a test to prevent sending MA <position> multiple times while still moving to the previous commanded position,
  9. Corrected an issue regarding the outputting of Encoder on O1 and O2 .
Dependency
Applicable to
Icon
6.007

Lexium Motion Module Firmwar 6.004

Release notes
Dependency
Applicable to

Lexium Motion Module Firmware 6.006

Release notes
Dependency
Applicable to

LMD MCodeOS V6.006

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.44

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.48

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.50

Release notes
Dependency
Applicable to

MDrive CANopen OS 5.52

Release notes
Dependency
Applicable to

MDrive MCode OS V3.010

Release notes
Dependency
Applicable to

MDrive MCode OS V3.011

Release notes
Dependency
Applicable to

MDrive MCode OS V3.012

Release notes
Dependency
Applicable to

MDrive MCode OS V3.013

Release notes
Dependency
Applicable to

MDrive/MFoce Step/direction 3.001

Release notes
Dependency
Applicable to

MDrive/MFoce Step/direction 3.002

Release notes
Dependency
Applicable to

LMD CANopen OS 7.13

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
Changes Ver. 7.11 to 7.13
  1. Added support for NEM 17 LMD
  2. Added support for open loop LMD units
  3. Locked Rotor Reaction didn’t disable bridge – fixed
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
Icon
7.13

LMD CANopen OS 7.15

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.13 to 7.15

  1. Added 4th RxPDO and TxPDO
  2. Changed hMTechnology default state from on to off
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
Icon
7.15

LMD CANopen OS 7.16

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.15 to 7.16

  1. Added Index 6077h: Torque demand actual value
  2. Fixed spurious unclearable error interupt*
*Required – Boot upgrade to version 6.12.3
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
Icon
7.16

LMD CANopen OS 7.19

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes

Changes Ver. 7.16 to 7.19

  1. Improved accuracy of Torque_Actual_Value reading.
  2. FFixed issue of negative torque follwing a HALT command.
  3. Improved timing for temperature readings by 50%.
  4. Allowed changing of NODEID and BAUD via SDO
  5. Default Voltage warning limits changed
  6. Enhanced LED1 power indicator
  7. Additions and enhancements
Dependency CANopen Interface
Applicable to Lexium MDrive CANopen
Icon
LMD 7.19

LMD MCode OS 5.010

Release notes
  1. Removed Calibration Fault from Attention Out bit list
  2. Converted Attention Out/No Aux. Volts to Voltage Warning if VT status is not = 0
  3. Added prevention to stop voltage fault from stopping programs from running.
  4. Added setting an error (96) if Motion attempted while +V out of range.
  5. Added setting an error (94) if motion attempted while drive disabled.
  6. Added stopping motion if Drive is Disable (DE=0).
  7. Fixed Attention Output stall indication.
  8. Fixed save to allow saves while user program running.
  9. Added code to detect NEMA size 17 (42mm) and not test for output faults on O1 and 02
  10. Fixed bug in TR -Trip Relative functionality
  11. Removed restriction on using the Attention Output mask (AO) on Ethernet TCP/IP based Lexium MDrives.
Dependency Motion Control Programmer or SEM Terminal
Applicable to Lexium MDrive Motion Control, Lexium MDrive Ethernet TCP/IP

LMD MCode OS 5.018

Release notes
Changes Ver. 5.017 to 5.018
  1. Added allowing Trips to be enabled when Address= 0
  2. Set Changed MAX]ILTER_CTto 10000, from 1000 (I Second).
  3. Put AS settings save/restore back into Flash
  4. Used ucNewDir to indicate direction when detecting an active Limit Sw.
  5. Added code to prevent buffer overflow.
  6. Fixed Flash location for Find Flat Value.
  7. Updated Copyright year.
  8. Added code to stop a running program if Print Buffer becomes full.
  9. Added setting port 6 icr to Ox90, in Asic.c for OPS_ DR VSlZE not ? to LMM.
  10. Added code to only stop printing and program when not tracing a program.
Dependency
Applicable to
Icon
5.018

LMD MCode OS 5.013

Release notes
Changes Ver. 5.010 to 5.013
  1. Increased +V MAX, for each drive size, by 1 volt. And, the low voltage warning reduced by 1 volt to11 volts.
  2. Updated copyright date.
  3. Fixed save to allow saves while user program running.
  4. Added code to detect NEMA size 17 (42mm) and not test for output faults on O1 and 02
  5. Fixed bug in TR -Trip Relative functionality
  6. Removed restriction on using the Attention Output mask (AO) on Ethernet TCP/IP based Lexium MDrives.
Dependency
Applicable to
Icon
5.013

LMD MCode OS 5.014

Release notes
Changes Ver. 5.013 to 5.014
  1. Added support for higher speed LMD Ethernet products
  2. Added ability to print the setup of individual IOs by adding line parameter to the PR IS/OS, line, i.e. Pr Is,2 to print the settins of Input 2
  3. Added Ability to print OT
Dependency
Applicable to
Icon
5.014

LMD MCode OS 5.016

Release notes
Changes Ver. 5.014 to 5.016
  1. Added Homing to Shaft Flat after Find Flat initiated.
  2. Updated copyright years.
  3. Added a new variable, FS (Flat Setting), and made it r/w by user.
  4. Fixed UART communication problem created when Ethernet SPI function added.
  5. Fixed a potential move problem.
  6. Modified OUTPUT 1 & 2 Fault detection, such that the error can be cleared, but the Fault has to be cleared by setting OF to 1, 2 or 3.
  7. Output port can now be read. PR Ot, needed for EtherNet
Dependency
Applicable to
Icon
5.016

LMD MCode OS 5.017

Release notes
Changes Ver. 5.016 to 5.017
  1. Fixed homing issue
Dependency
Applicable to
Icon
5.017

LMD MCode OS 6.004

Release notes
Changes Ver. 5.018 to 6.004
  1. Added floating point math functions
  2. Added S-curve accelerations and deceleration types
  3. Additional feature additions: Software limits; home to index offset, backlash compensation
Dependency
Applicable to
Icon
6.004

LMD Pulse/direction 5.005

Release notes
  1. Changes to prevent swapped characters in Print responses.
Dependency Pulse/Direction Interface
Applicable to Lexium MDrive Pulse/Direction

LMD Pulse/direction 5.006

Release notes

Changes Ver. 5.004 to 5.006

  1. Fixed option decoding for upper +V limit test via motor stack size
Dependency Pulse/Direction Interface
Applicable to Lexium MDrive Pulse/Direction

LMD Pulse/direction 5.008

Release notes

Changes Ver. 5.006 to 5.008

  1. Added code to prevent direction change causing motion to start if STOPPED == TRUE
  2. Modifications to Speed Control mode
  3. Fixed situation where if drive running and disabled, then re-enabled motion starts without ramp
  4. Fixed switching between modes with inputs (Step/Motion, Direction. Bridge Enable) all true
Dependency Pulse/Direction Interface
Applicable to Lexium MDrive Pulse/Direction

LMD Ethernet TCP/IP Application

Download *,zip file contains relevant electronic datasheet files (EDS, GSDML etc.)
Release notes
The version Lexium MDrive Ethernet Application used will be determined by the model/version, The *.zip file includes all available upgrade files. The version number can be viewed on the lower-right of the TCP/IP Configuration Utility screen. Download includes Profinet GDS and EIP EDS files. Check the release version prior to performing an upgrade. Major versions 2.4.x.x – LMDxE Ethernet TCP/IP models with Kinetis K64 processor (Current version 2.4.0.3) 2.3.x.x – Older LMDxE Ethernet TCP/IP with Kinetis K60 processor
Dependency Ethernet TCP Interface
Applicable to Lexium MDrive Ethernet TCP/IP

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