Encoder Gate Array Update

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When updating existing customers with Firmware Versions 1.17.08 and below to Firmware Versions 1.18 and above, the following added features will require an upgrade to the Encoder FPGA.

1. Encoder Signal Fault Detect. With this feature, the quadrature input signal is monitored by hardware to guarantee proper quadrature state sequence changes. If the input signal changes to an invalid state sequence, a flag is set. This flag does not change existing encoder input operation, but is available for the user to monitor encoder functionality.

2. Commutation. The new commutation feature requires the new encoder gate array.

3. INTCAP Multiple Interrupt Source Mode. With this feature, multiple sources of data can be selected for each hardware capture register. This means that the user will be able to perform multiple captures, using different interrupt sources, on encoder inputs. Refer to the latest Acroloop Motion Controller's User's Guide, INTCAP command, for more details.

As an example, an ACR2000 requires upgrading from from P/N ACR2KQC-2 (2 Channel)/ACR2KQC4-2 (4 Channel) to P/N ACR2KQC2-3/ACR2KQC4-3, respectively:

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