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Release Note
C0FE003D_xxxx.sff
MPI Version |
FPGA Version |
03.04.05 |
C0FE003D_0400_00_06 |
03.04.03 |
C0FE003D_0400_00_04 |
03.04.00
Production Release |
C0FE003D_0400 |
C0FE003D_0400_00_06
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Changed current limit warning back to current limit fault |
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Reference Number: FP 662 |
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Type: General Change |
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FPGA Version: 0x0400_00_06 |
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Description:
It was determined that it was undesireable to have the current limit be a warning therefore, the current limit was changed back to being a fault (as it was in x0400 FPGA release). |
C0FE003D_0400
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Support for driveWarning, change current limit faults to warnings |
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Reference Number: FP 529 |
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Type: General Change |
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FPGA Version: 0x0400 |
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Description:
It was determined that current limit should be reported as a driveWarning instead of a driveFault.
Support was added for the dedicatedIo bit driveWarning. The current limit faults were also changed to be current limit warnings on all axes. |
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Remove drive reset complete from the fault and fault mask registers |
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Reference Number: FP 466 |
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Type: General Change |
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FPGA Version: 0x0400 |
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Problem/Cause:
As more drives require a driveBootComplete bit to indicate when they are finished booting, it was necessary to change the current bit to a more ideal location. |
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Fix/Solution:
The FPGA bit, driveResetComplete, has been removed from the dedicatedIo Fault and Fault Mask registers. This bit has been replaced with driveBootComplete in the dedicatedIo Config register. This bit is monitored solely by the sqNodeLib utility. It is currently not visible through MPI calls or through Motion Console.
NOTE: This change causes compatibility issues between new FPGAs and old software (or old FPGAs with new software). FPGA version x0400 and later require the 03.04.00 MPI software release and later.
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The watchdog fault was incorrectly being cleared after being activated |
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Reference Number: FP 465 |
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Type: Bug Fix |
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FPGA Version: 0x0400 |
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Problem/Cause:
The Slice I/O watchdog fault was incorrectly being cleared after being activated. If a watchdog fault occurred, the FPGA would send a stop command to all slices to halt cyclic operation. As a result of being in this stop mode, it would cause the watchdog fault to be disabled and incorrectly clear itself. Therefore, the fault would never be seen. |
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Fix/Solution:
The FPGA was changed so that if the watchdog fault was the trigger to enter into the stop mode, the watchdog fault would not disable itself, thus allowing the fault to stay latched and also trigger the nodeIo fault.
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Addition of C0FE003D FPGA |
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Reference Number: FP 425 |
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Type: New FPGA |
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FPGA Version: 0x0400 |
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Description:
New FPGA C0FE003D. This FPGA is a runtime image for the the Kollmorgen sqDC4. |
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sqMac Version 0300 |
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Reference Number: FP 407 |
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Type: New Feature |
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FPGA Version: 0x0400 |
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Description:
The sqNode x0400 FPGA release introduces an upgraded network module, sqMac version 0300. Upgraded features include:
- SynqNet HotReplace - allows one or more more nodes to be shutdown, replaced, and brought back on-line without interrupting other nodes.
- Revised Cable Length Discovery - a new node-to-node method was added to make discovery more accurate.
- sqPll shutdown - a controlled shutdown of individual nodes for HotReplace.
The sqMac 0300 version is NOT fully compatible with MPI versions prior to 03.04.00. Using 0300 sqMac with older software (for some configurations) might cause the "idle cable" check function to accidently corrupt normal packet traffic. But, the MPI will issue a warning if old/new FPGA/MPI are mixed by accident. |
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Updated serial stream to the latest format |
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Reference Number: FP 400 |
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Type: General Change |
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FPGA Version: 0x0400 |
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Problem/Cause:
The serial stream for the Kollmorgen SqStep and SqDC drives has changed. These products are supported in the x0400 FPGA release. |
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Fix/Solution:
The FPGA has been updated for the new serial stream.
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