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	​puck2.out.r39b.noenet.opt
WAM-O[B|D|E]	​puck2.out.r39b.enet.opt
WAM-MA	​puck2.out.r102.noenet.mag
WAM-MB	​puck2.out.r102.enet.mag
WAM-M[D|E]	​puck2.out.r119.enet.mag
WAM-H	​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 ​serial cable inline with the ​serial download adapter to the safety board. See ​this picture for reference.

If your system matches type WAM-xB, connect the ​serial cable to the connector near the safety puck and ​flip the nearby switch to the "ON" position (away from the puck).

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

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 ​F28xxConsole.exe

Step 3: Flash the Firmware

Under MS Windows, quit any programs that may be using the COM1 serial port. Simultaneously drag ​puck2mon.out.r6 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 ​directly to the safety board

If your system matches type WAM-xB, ​Flip the nearby switch to the "OFF" position (towards the puck).

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

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.

0. SET X1 2000

1. SET SAFE 4 (this is necessary, do not skip this step!)

2. SET SAFE 5

3. FIND VBUS

4. SET SAFE 0

5. SET VOLTL1 22

6. SET VOLTL2 19

7. SET VOLTH1 54

8. SET VOLTH2 57

9. SET GRPA 1

10. SET GRPB 2

11. SET GRPC 3

12. SAVE

13. RESET

14. GET VOLTL1 (should be 22, else SET and SAVE it again)

15. GET VOLTL2 (should be 19, else SET and SAVE it again)

16. GET VOLTH1 (should be 54, else SET and SAVE it again)

17. GET VOLTH2 (should be 57, else SET and SAVE it again)

18. GET GRPA (should be 1, else SET and SAVE it again)

19. GET GRPB (should be 2, else SET and SAVE it again)

20. GET GRPC (should be 3, else SET and SAVE it again)

21. Turn off main power to WAM