                           Release Notes for 
                              HDM Software
                              Version 6.0


================================================================================
  Features Added 
================================================================================
1) Added support for the REL, DEP, DCJ, DDP, and RTL drives.

2) Added Support for the 800-1706, 800-1707, and 800-1708 drives

3) Added support for IXXAT V3 drivers.

4) Detailed encoder error information can now be read in the Error Log screen
   when there is a feedback error.  This only applies to the serial encoders
   that report the detailed information.

5) HDM is now able to communicate via EtherCAT (currently the only drives that
   support this are the DEP and REL). WinPcap, a third-party driver, is required
   for EtherCAT communications.  Contact Harmonic Drives for the correct version 
   WinPcap to use with HDM software

================================================================================
    System Requirements
================================================================================

Hardware:
    Minimum:  1GHz with 512MB RAM

Communications:
  - Standard RS-232 serial port 
  - RS-232 to USB adapter
  - CAN card

Operating Systems Supported: Windows 2000, XP, Vista, and Windows 7.

Special Notes for Windows 7 and Vista:

1) When the installer starts, a message will be displayed stating that an 
   unidentified program is trying to access the computer.  Click the button to
   allow the installer to continue, and HDM will be installed properly.

2) Default File Locations   
   The default file location for HDM's data files (ccx, ccm, etc.) is operating
   system dependent. 

   For Windows 2000 and XP:
       C:\Program Files\Harmonic Drive\HDM
 
   For Windows Vista and 7
       C:\Users\Public\Documents\Harmonic Drive\HDM


================================================================================
    Installation procedures
================================================================================

The CD-ROM containing the software should automatically start the 
installation wizard when the disk is inserted into your CD-ROM drive.  If 
this does not happen automatically, run the program "setup.exe" from the 
CD-ROM.



================================================================================
    User documentation
================================================================================

User guides are available in .pdf format on the CD-ROM and will be 
automatically placed in the Doc folder where HDM is installed.  A shortcut to 
this folder will be placed on your desktop during the installation.  The 
documents are also available on our website:

http://www.harmonicdrive.net
