PRO series firmware to PRO(A)

I have buy the pro series motor H54-200-S500-R
Can I upgrade the firmware to H54-200-S500-R(A)?
Right now, I have find that the encoder resolution is different.
I need to change the firmware is because I want to control the velocity profile and set the trapezoidal max velocity to ensure all the motor can start in the same time using syncwrite, and end in the same time by using trapezoidal velocity profile.

Yes, you can upgrade the firmware via DYNAMIXEL Wizard 2.0.
However, please be aware that upgrading to (A) series firmware will change the structure of the control table, therefore, you have to update the source code to change the address and length for the data.
Thank you.