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= Safety Puck Firmware Update Process =

'''Note:''' You must know your WAM's type before beginning this process.  See ["WAMTypes"] to determine your system's type.

== Step 0: Determine Correct Firmware Version for Your Safety Puck ==

Refer to the following table to find the correct version:

|| WAM Version || Firmware File ||
|| '''WAM-OA''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r39b.noenet.opt puck2.out.r39b.noenet.opt] ||
|| '''WAM-O[B|D|E]''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r39b.enet.opt puck2.out.r39b.enet.opt] ||
|| '''WAM-MA''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r102.noenet.mag puck2.out.r102.noenet.mag] ||
|| '''WAM-MB''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r102.enet.mag puck2.out.r102.enet.mag] ||
|| '''WAM-MD''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r119.enet.mag puck2.out.r119.enet.mag] ||
|| '''WAM-ME''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r197.enet.mag puck2.out.r197.enet.mag] ||
|| '''WAM-H''' || [http://web.barrett.com/support/WAM_Firmware/puck2.out.r102.enet.mag puck2.out.r102.enet.mag] ||

Use btutil to determine the current firmware version on your safety puck.  If it is already the correct version, there is no need to continue with these instructions.

== Step 1: Connect to the Safety Puck over Serial ==

If your system matches type '''WAM-xA''', connect the [http://web.barrett.com/supportFiles/wikiFiles/wam-PuckSerialCable.jpg serial cable] inline with the [http://web.barrett.com/supportFiles/wikiFiles/wam-SerialDownloadAdapter.jpg serial download adapter] to the safety board.  See [http://web.barrett.com/supportFiles/wikiFiles/SafetyTypeA-download.jpg this picture] for reference.

If your system matches type '''WAM-xB''', connect the [http://web.barrett.com/supportFiles/wikiFiles/wam-PuckSerialCable.jpg serial cable] to the connector near the safety puck and [http://web.barrett.com/supportFiles/wikiFiles/SafetyTypeB-download.jpg flip the nearby switch] to the "ON" position (away from the puck).

If your system matches type '''WAM-xD''', wait for further instructions.

If your system matches type '''WAM-xE''', connect the [http://web.barrett.com/supportFiles/wikiFiles/wam-PuckSerialCable.jpg serial cable] to the connector near the safety puck and [http://wiki.barrett.com/support/attachment/wiki/SafetyFirmwareUpdate/RevAE-download.jpg flip the nearby switch] to the "ON" position (toward the puck).

== Step 2: Set Up the Computer ==

Connect the other side of the serial cable to COM1 of a Windows PC.

Turn on main power to the WAM

Download [http://web.barrett.com/support/WAM_Firmware/F28xxConsole-v210.zip F28xxConsole.exe]

== Step 3: Flash the Firmware ==

Under MS Windows, quit any programs that may be using the COM1 serial port. Simultaneously drag [http://web.barrett.com/support/WAM_Firmware/puck2mon.out.r9.c32 puck2mon.out.r9.c32] and your correct firmware file (from above) onto F28xxConsole.exe

Wait for the download to complete (about 4 minutes)

Turn off main power to the WAM

== Step 4: Replace the Serial Cable ==

If your system matches type '''WAM-xA''', For Type A: Remove the serial download adapter- connect the serial cable [http://web.barrett.com/supportFiles/wikiFiles/SafetyTypeA-serial.jpg directly] to the safety board

If your system matches type '''WAM-xB''', [http://web.barrett.com/supportFiles/wikiFiles/SafetyTypeB-serial.jpg Flip the nearby switch] to the "OFF" position (towards the puck).

If your system matches type '''WAM-xD''', wait for further instructions.

If your system matches type '''WAM-xE''', [http://wiki.barrett.com/support/attachment/wiki/SafetyFirmwareUpdate/RevAE-download.jpg flip the nearby switch] to the "OFF" position (away from the puck).

== Set Safety Firmware Defaults ==

Launch !TeraTerm/Hyperterminal (9600 baud, no parity, 8 bits, 1 stop bit, no flow control)

Turn on main power to the WAM. You should get a prompt (=>). Type the following commands in sequence, each followed by <Enter>. A mis-typed command will NOT result in an error message, so type carefully! Note that this assumes you are using the stock 48 VDC power supply. Following these instructions with a different supply could damage your WAM, please contact us for custom instructions in this case.

1. SET X1 2000
1. SET VNOM 48
1. SET SAFE 4 (this is necessary, do not skip this step!)
1. SET SAFE 5
1. FIND VBUS
1. SET SAFE 0
1. SET VOLTL1 22
1. SET VOLTL2 19
1. SET VOLTH1 54
1. SET VOLTH2 57
1. SET GRPA 1
1. SET GRPB 2
1. SET GRPC 3
1. SAVE
1. RESET
1. GET VNOM (should be 48, else SET and SAVE it again)
1. GET VOLTL1 (should be 22, else SET and SAVE it again)
1. GET VOLTL2 (should be 19, else SET and SAVE it again)
1. GET VOLTH1 (should be 54, else SET and SAVE it again)
1. GET VOLTH2 (should be 57, else SET and SAVE it again)
1. GET GRPA (should be 1, else SET and SAVE it again)
1. GET GRPB (should be 2, else SET and SAVE it again)
1. GET GRPC (should be 3, else SET and SAVE it again)
1. Turn off main power to WAM