●Dear Valued TRINAMIC Customer, This is to inform you that a new TMCL firmware version (V1.07) has been released for the modules listed in table below.
●New batches of the modules will be delivered together with this new release of the firmware. Modules already shipped can be updated to this new release of the firmware using the provided firmware update feature of the TMCL-IDE. Prior firmware releases are still available on the corresponding product pages on www.trinamic.com.
●Please note that after a firmware update coming from a different firmware version, all previous EERPOM stored parameters will get lost, because the new firmware will apply its default parameter values during first reboot.
●Changes:
■TMCM-1617-TMCL (V1.06 => V1.07)
▲The Firmware introduces the following new axis parameters:
◆“position sensor selection” (AP25),
◆“velocity sensor selection” (AP26),
◆“velocity unit selection” (AP27),
◆“motor halted velocity” (AP47).
▲The “position P” parameter (AP74) scaling changed, thus after an update a new tuning of the position regulation P parameter is required.
▲Over-Current events are issued on the error LED output.
▲Over-Current events and driver error events are mapped into the “status flags”parameter (AP156).
▲The factory default values for the following parameters are changed:
◆The “motor type” new default value is 3.
◆The “position P” new default value is 50.
●This change is classified as a major change.
●Timing
■Effective date for firmware release: August 31, 2021

Brand of Product：	TRINAMIC
Part#：	TMCM-1617-TMCL 、 TMC-11-0045 More Part#
Product Category：	low-weight miniaturized single axis servo driver More
Application：	More
Data Type：	PCN/EOL More
Safety & Environment Standards：	More
Operating Temperature：	Please see the document for details
Qualification Grade：	More
Qualification Approval：	More
Package：
Language：	English Chinese Chinese and English Japanese
Date of Creation：	August 31, 2021
Version Number：
Data Encoding：	PCN_2021-08-31_Firmware_TMCL_V107_TMCM-1617
Data Size：	91 KB