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Release notes for firmware of Kleindiek Nanocontrol Version 2x and 3x
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Version 3.01   26.07.2002
  - firmwareupdate via RS232 possible
  - new sounds
Version 3.02   01.10.2002
  - cube
Version 3.03   27.01.2003
  - improved code for cube
Version 3.04   19.02.2003  
  - some bugfixes
Version 3.05   17.12.2003
  - STA
  - maximum frequency now 20kHz, minimum 500Hz
  - improvemnet in command 'moveabs'
Version 3.06   03.03.2004
  - fineinvcoarse function removed
  - joypadpollrate function removed
  - Auto tip retract
  - varying amplitude with joystick now removed
  - smoother command 'finepos'
Version 3.07   23.07.2004
  - bugfixes in moveabs command
Version 3.08   27.09.2004
  - improvemnet in command 'moveabs'
  - bugfix at joypadmapping
Version 3.50   13.12.2004
  - command 'coarse' now uses rehersal correction
  - impulse_width and impulse_enable functionality removed
  - frequency limited to 500Hz-10kHz
  - new LCD screens
  - new default values in configinit
  - functionality link amplitudes 1-4
  - amplitude wizard
  - moveabs uses maximal amplitudes for coarse approach and automatic amplitude adjustment for final approach
Version 3.51   20.12.2004
  - transformationbc removed
  - functionality minamplpos and minamplneg
  - new type of coarsesteps

Version 4.00   25.02.2005
  - new steps with less vibrations (minimal amplitudes pos/neg, stepsize)
  - new syntax for serial commands (RS232)
  - new sounds for speeds, startup
  - 6 Speed levels instaed of 5 gears
  - default frequency set to 2.7 kHz
  - amplitude wizard
  - penetration functionality
  - new command relax for LT12830
  
Version 4.01   17.03.2005
  - syntax of command 'finepos' changed to 'fine'
  - loop on amplitude menu page for fine adjustment of minamp
  - devicemode NM, MM3A, LT; countermode OFF, XEYE, XEYEZE, X2EY2E

Version 4.02   06.07.05
  - code changes, smaller bugfixes ...

Version 4.03   30.09.05
  - joypad control for LT12830X2EY2E
  - joypad stays on during commands, which take more than 2.5 seconds
  - improvement in command relax

Version 4.04   04.11.05
  - code changes, smaller bugfixes ...

Version 4.20   28.07.2006
  - changed syntax moveabs and coarse a/b/c/d for use with LT12830X2EY2E
  - all commands corresponding to encoders are now in units of nm!
  - new functionality: vibration
  - new countermode X2EY2E5 for new encodersystem
  - new command 'amplwizard', 'builddate'
  
Version 4.21   22.09.2006
  - result of command 'version' changed
  - command builddate removed
  - maximum frequency 20 kHz
  
Version 4.22   29.01.2007
Please notice: all previous settings will be overwritten. Use backup tool to save and restore settings.
  - improvements in codesize
  - LCD shows 'locked by trigger input' if trigger input is pulled down.
  - short sound if fine mode reaches limits
  - short ticks when coarsesteps are executed and can be switched on/off
  - fine-with-coarse can be enabled at speed 3, 2-3, 1-3 and switched off 
  - vibration works now together with finemode
  - command getlcd for lcd-screendump
  
Version 4.25   04.05.2007
  - minamp pos , neg and stepsize is used for all(!) speed levels.
  - improved amplitude wizard for MM3A.
  - after amplitude wizard profile will automaticly be saved.
  
Version 4.30   26.05.2008
  - only device LT68xx: exact position is now reached in fine mode always from the same direction.
  - only device LT68xx: only the amplitudes in the menu are used for moving.
  - default stepsize is 15, after amplitude wizard stepsize is always set to 15.
  - command speed ?': return string contains speed level 
    + speed settings of each channel
  - Speed 6 will allways use maximum amplitudes. 
    If linear tables with encoders are used, 
    amplitudes are allways the same (no exception). 
  - LT12830...: no equalation movement of motor A/B and C/D after using joypad anymore.
  - new command 'stepsize ?'
  - new command: vibration <A-D> <amplitude 0-2047> <delay 0-999ms> <0=off, 1=on>
  - LT68xx: improvement in table stop detection
  - LT12830...: after amplitude wizard all values of stepsize are set to 15.

Version NC2/3 4.31   20.08.2009
  - amplitude wizard slower for use together with iProbe-Software
  - command 'stop' stops vibration of tips
  - bug in command 'speed'
  - bug in version number
  - new countermode XEYE5
  - improved fine-with-coarse step for new MM4

Version NC2/3 4.32   23.02.2010
  - new repeat and serial command for penetration
  - minimum frequency now 100 Hz