Firmware & EDS

SEM products are field upgradeable and we routinely release bug fixes and feature additions.

Lexium MDrive Products

Lexium MDrive Motion Control

LMD Version 6.012

Changes Ver. 6.010 to 6.012
  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.

Release date: 04/17/2018
Dependencies: Motion Control Interface
Applicability: Lexium MDrive Motion Control

Lexium Motion Module Motion Control

LMM Version 6.012

Changes Ver. 6.010 to 6.012
  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.

Release date: 04/17/2018
Dependencies: Motion Control Interface
Applicability: Lexium Motion Module Motion Control
Motion Control firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Lexium MDrive

LMD Version 6.010

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.

Version 6.008

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 .

Version 6.007

Changes Ver. 5.016 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 .

Version 6.006

Changes Ver. 5.014 to 6.006
  1. Added code to determine if the number of floating point digits exceed format width and then convert to scientific notation.
  2. Fixed VA xx = minus number.
  3. Fixed problem when first character of user variable matches the opcode of Higher Math function and causes BAD_DATA error.
  4. Added indicating when trying to create a variable with too large of a number.
  5. Fixed List to support user variable arrays.
  6. Set NE default to be 0 instead of 1.
  7. Added ability to set array size with a variable.
  8. Added ability to set a user var to a variable or previously defined user var.
  9. Added code to firmware to prevent multiple setting of OVR_CUR_FLT error; to prevent crashing the stack.
  10. Fixed code to allow, when defining a LBLVAR, setting it to a user variable.
  11. Added tests to HM/HI/HF, SL and MA/MR to prevent running when in AS=3 (torque mode).
  12. Fixed detection of limits when in EE mode and doing a MA or MR.
  13. Changed version number to the released version number, 6.006

Version 6.004

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
  4. Converted analog input filter equations to floating point to compensate for the LMD 12-bit ADC.

Version 5.018

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.

Version 5.017

Changes Ver. 5.016 to 5.017
  1. Fixed homing issue

Version 5.016

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. The output port can now be read. PR Ot, needed for EtherNet

Version 5.014

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 settings of Input 2
  3. Added ability to print OT
  1. Added a new variable, FS (Flat Setting), and made it r/w by user.
  2. Fixed UART communication problem created when Ethernet SPI function added.
  3. Fixed a potential move problem.
  4. 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.
  5. Output port can now be read. PR Ot, needed for EtherNet

Version 5.013

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.

Version 5.010

Changes Ver. 5.009 to 5.010
  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.

Lexium Motion Module

LMM Version 6.010

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.

LMM Version 6.008

Changes version 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 .
  6. Added AV to LMM.

LMM Version 6.007

Initial release

Pulse/Direction

Version 5.011

Changes Ver. 5.008 to 5.011
  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.

Release date: 11/09/2015
Dependencies: Pulse/direction Interface
Applicability: Lexium MDrive Pulse/direction, all models/connector variants
Pulse/direction firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Version 5.008

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

Version 5.006

Changes Ver. 5.005 to 5.006
  1. Fixed option decoding for upper +V limit test via motor stack size

Version 5.005

Changes Ver. 5.004 to 5.005
  1. Fixed option decoding for upper +V limit test via motor stack size

Ethernet TCP/IP

TCP/IP Application

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

Lexium MDrive CANopen

EDS files are in zip file with firmware

LMD Version 7.23.4

Changes versions 7.19  to 7.23.4
  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.

Release date: 04/04/2018
Dependencies: CANopen Interface
Applicability: Lexium MDrive CANopen, all models/connector variants

Lexium Motion Module CANopen

EDS files are in zip file with firmware

LMM Version 9.20

Release date: 06/21/2016
Dependencies: CANopen Interface
Applicability: Lexium Motion Module CANopen
CANopen firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

LMD Version 7.19

Changes versions 7.16 to 7.19
  1. Default Voltage warning limits changed
  2. Enhanced LED1 power indicator
  3. Additions and enhancements

Version 7.16

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

Version 7.15

Changes Ver .7.13 to 7.15
  1. Added 4th RxPDO and TxPDO
  2. Changed hMTechnology default state from on to off

Version 7.13

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

MDrive Plus/MForce products

Motion Control

Version 3.0.14

Changes Ver. 3.0.13 to 3.0.14
  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).

Release date: 10/25/2012
Dependencies: Motion Control Interface
Applicability: MDrive Plus and MForce Motion Control
MDrive Motion Control firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Version 3.0.13

Changes Ver. 3.0.12 to 3.0.13
  1. Corrects an issue where a slew 0 (SL 0) command has no effect during a “move on move”

Version 3.0.12

Changes Ver. 3.0.11 to 3.0.12

NOTE: This update only impacts MDrivePlus models with Ethernet communications

  1. Added forcing BaudRate to 115K when EtherNet option set and disallowed user access to it.
  2. Added limited functions for CE and ES (no party mode features) when EtherNet Option Active.
  3. Added disallowing user access to PARTY, QUEUED, CKSUM
  4. Removed test for RXIF at end of receive routine in UART_isr to eliminate error 63’s
  5. Added DG (disable global response) to ethernet disable list.

Version 3.0.11

Changes Ver. 3.0.10 to 3.0.11
  1. Added work around for negative Velocity and Fixed small move at hi accl and decel with direction change problem.
  2. Removed LE (Logo Enable) mnemonic.
  3. Set Stack Overflow to 1 less than stack size, allows OE On Error) to be called.
  4. Added code to help from getting Character Overflow Error 63.
  5. Fixed setting PWM’s in MFI drives.
  6. Improved Move On Move capability.
  7. Updated sign-on copyright message.

Version 3.0.10

Changes Ver. 3.0.09 to 3.0.10
  1. Fixed swapped characters at 115200 baud.
  2. Fixed problem where CkSum, of received command, was incorrect when Stall occured.
  3. Added Clearing of CheckSum, of received command, after ESC.
  4. Fixed up moving reporting while Slewing.
  5. Updated Copyright dates.
  6. Fixed problem where pressing ESC while in motion and trying to Save causes error.
  7. Added test for char overrun when receiving commands. Will generate and Error 63 when overrun occurs.
  8. Added “CRLF?” when overrun occurs.
  9. Fixed Trip counter for overflow.
  10. Fixed Stack over flow.
  11. Added second parameter to CP, new form is CP addr, clrvars addr: if 0 or blank clears entire program, else from addr to next RT or E clrvars: if 0 or blank leaves user variables untouched, else 1 = clear user variables.

Pulse/Direction

Version 3.0.05

Changes Ver. 3.0.02 to 3.0.05
  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.

Release date: 08/13/2013
Dependencies: SEM SPI Interface
Applicability: All MDrive and MForce Step/direction NEMA sizes / connector variants
MDrive Step/direction firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Version 3.0.02

Changes Ver.3.0.01 to 3.0.02
  1. Added Enable Active Level, Hi=True is default.
  2. Set Step and Dir Default Filtering to 2.5 MHz.
  3. Added User ID to PN/SN recall.

Version 3.0.01

Initial release

Ethernet TCP/IP

TCP/IP Application

Release date: 05/13/2013 No prior versions are available. TCP Configration Utility for MDrive and TFTP Server required to preform update.

Download zip file includes *.EDS

CANopen

EDS files are in zip file with firmware

Version 5.54

Changes Ver. 5.52 to 5.54
  1. Performance optimization
  2. Remote encoder filter and range modified

Release date: 08/25/2015
Dependencies: CANopen Tester, MD-CC500-000 or Equivalent PEAK/Phytech CANopen converter.
Applicability: All MDrive and MForce CANopen
MDrive CANopen firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Version 5.52

Changes Ver. 5.50 to 5.52v
  1. Trajectory target calculation updated to reduce creeping.

Version 5.50

Changes Ver. 4.48 to 5.50
  1. Changes only relevant to MDrive Hybrid products.

Version 5.48

Changes Ver.5.44 to 5.48
  1. NMT Reset Applications will clear Locked Rotor Indicator (MDrive Hybrid Only).
  2. Bug: A Locked Rotor will disable the bridge. Corrected to NOT disable the bridge (MDrive Hybrid Only).
  3. Added Hybrid Idx2740, bit8, START_CALT (Start Calibration)(MDrive Hybrid Only).
  4. Locked rotor Timer Idx2710h, (ASLRTIME). Locked Rotor Timer Function can be disabled via setting timer to 0 (MDrive Hybrid Only).
  5. MakeUp Disabled then restored during clearing of the LeadLag Register (CLR_ERRCNT)(MDrive Hybrid Only).
  6. Homing to a hard limit. Methods -1, -2, -3, and -4 added.
  7. Added: Hybrid_Status_Byte_2741h, added status bits for Hybrid bit7=CAL_DONE bit4=ASACTIVE, bit3=ASLRTM, and bit0=Fault (MDrive Hybrid Only).
  8. Acceleration and Decelerations range guarded to avoid digitizing internally to 0.
  9. Homing and AutoSync will clear MakeUp register. (MDrive Hybrid Only).
  10. Hybrid State Machine Logic (MDrive Hybrid Only).
    1) MakeUp active logic is now a function of DSP402 State (ie. Idx6041 statusword).
    2) Halt will temporarily disable MakeUp
  11. BugFix: Quick power cycle may cause the CAN controller to not SYNCH
    1) Added BSE Reset to the CAN Controllers software reset.
    2) Multiple attemps to SYNCH,the CAN transceiver will be placed in Standby, in order to provide a long enough SYNCH gap to the units CAN controller.
  12. Product_code for Hybrid established as 101000 (ie SEM coding of 1010.00). (MDrive Hybrid Only).

Version 5.44

Initial release

Speed Control

Version 3.0.0.6

Changes Ver. 3.0.05 to 3.0.06
  1. Fixed data integrity checks on startup.
  2. Fixed problem with analog input, with center set, not changing direction.

Release date:  07/16/2015
Dependencies: SPI Motor Interface
Applicability: MDrive Plus Speed Control
MDrive Speed Control firmware archive

Do not downgrade firmware except in cases where the firmware version is locked or unless instructed by SEM applications support. If you need a customized firmware please see our Custom products page

Version 3.0.05

Changes Ver. 3.0.04 to 3.0.05
  1. Fixed the saving of user data, especially when the data sector gets full and has to change to the next sector.

Version 3.0.04

Changes Ver. 3.0.03 to 3.0.04
  1. Updated copyright dates.
  2. Added default settings for PWM ADC.
  3. Changed default PWMMSK to 0xCC.
  4. Fixed Selecting Speed 1 or Speed 2 so that FET settings remain the same when switching between speeds.
  5. Fixed A2D vs. VELOCITY range. Now takes VI into account.
  6. Addded debounce to DIR and SPD SEL inputs. Uses same setting as for the Strt/Stop Sw. In the GUI it is called “Sw. Input Debounce”
  7. Removed restriction of no direction change after direction change started.
  8. Fixed Selecting A1 or A2 in Filter_AD_Data.
  9. Set default Input Debounce time to 1 mSec.
  10. Fixed motion problems when changing Direction and Start/Stop Inputs.

Custom Products

When it comes to your form, fit and function requirements, don’t settle. Get precisely what you need working with us. We know motion.

> Learn more

Reach Us

Contact us with any questions about how we can help you with your motion application or for assistance with your SEM products.

> Contact Us

Need information?

Browse our resource section and find the most useful tools and documents for all our products.

> Browse