This is the revision history of this document

Date and Revision

Firmware Compatibility

Changes Made

October 2019

Version 1.0

V126BL

New Document

November 2019

Version 2.0

V127BL

Updated Table 6-44 Pins by function to agree with Note 2 on page 106.

ERCP add mode 7, level output. PWM polarity corrected. MPGM, MPGD, and SCV support added to standalone. BF and BSTART command replay corrected. High-speed correction function added. An added calculation to get accel/decel rate.  Expanded information on-the-fly speed change accel/decel rate. 

December 2019

Version 2.1

V127BL

Updating SSPDM command information and HSPD operation related to SSPDM.  SYNS command operation update.

February 2020

Version 2.2 

V127BL

Table 2-12 MOSI0 changes to pin 2-13, Added notes regarding Linear Interpolation.

October 2021

Version 3.0

V201BL

Updated Document to reflect move to V200 of CMD firmware and RTOS system. 

November 2023

Version 3.2

V205BL

Updated Service functions, MST





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