UTM-30LX (Top-URG) History of Firmware Update       2010-07-09 Hokuyo Automatic Co., Ltd.

2010-07-09  Version 1.18.01
    * Fixed: wrong timestamp due to DMA transmission
    * Fixed: Generation of error code 46 and 75 even when sensor is in normal operation.
    * Fixed: The first letter of serial number is corrected to 'H'.

2010-02-22  Version 1.17.01
    * Added: the write-protection function is added to FRAM(non-volatile memory).

2010-01-19  Version 1.16.02
    * Added: RB command is added for rebooting.
    * Added: Improved robustness against disturbance light or another range sensor.
    * Added: FRAM cannot be written when power supply is less than the required voltage.
    * Fixed: Missing transmission data of MD reply.
    * Fixed: MD replies continue even afger QT command.
    * Fixed: VV command information: Communication protocol is changed from 2.1b to 2.0
    * Fixed: Obtained measurement data is fixed fan type because of multi-echo
             reflected light from iron bars or mesh.

2009-04-17  Version 1.15.05 (P.1,05) 
    * Fixed: Wrong check sum calculation of II command.
    * Fixed: Missing baud rate information in II command.
    * Fixed: Error in operation mode because of II command.
    * Fixed: New line code of TM command response is wrong as 'CR'.
    * Fixed: Data of MD command had shifted about 90-180 degree.
    * Added: TM command is accepted while MD command action is on going.
    * Added: New MD command with different scanning range can be accepted
             while present MD commaned is still in action.
    * Fixed: Remaining number of scan count is not updating in ME command.
    * Fixed: Reply from QT and ME is mixing when QT command is send
             while ME command is still in action.
    * Added: Robust FRAM(non-volatile memory) protection.

2008-11-04  Version 1.12.00 (M.1.00bt2)
    * Fixed: URG sensor's connection can not be confirmed by PC when USB cable is
             pulled out while MD command is still in action.
    * Fixed: Communication stops when received data size is more than 64 bytes.
    * Fixed: Laser does not turn off when TM command is received.
    * Added: Breakdown code.

2008-04-21  Version 1.11.59 (L.1.59)
    * First release version

NOTES
    * The data of ME command may not be able to is transmitted at every scan and all steps,
      because its data size is too large. So it is recommended for users to adjust the range parameters.
      We found a bug that in some communication environment if there is delay in communication,
      next scan data is overwritten from halfway.
      We are trying to fix the above bug by avoiding overwritten and transmitting the proper status
      conveying than transmission could not be success.