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Release Note
C0FE003D_xxxx.sff

MPI Version
FPGA Version
04.00.00
Production Release
C0FE003D_0500
03.04.05
C0FE003D_0400_00_06
03.04.03
C0FE003D_0400_00_04
03.04.00
Production Release
C0FE003D_0400

  Table of Contents
     
    Changes and Bug Fixes
     

C0FE003D_0500
     sqMac upgraded to support 64 nodes - New Feature - FP886
     Improved Capture module unified with Probe features - General Change - FP823

C0FE003D_0400_00_06
     Changed current limit warning back to current limit fault - General Change - FP662

C0FE003D_0400
     Support for driveWarning, change current limit faults to warnings - General Change - FP529
     Remove drive reset complete from the fault and fault mask registers - General Change - FP466 
     The watchdog fault was incorrectly being cleared after being activated - Bug Fix- FP465
     Addition of C0FE003D FPGA - New Feature - FP425
     sqMac Version 0300 - New Feature - FP407
     Updated serial stream to the latest format - General Change - FP400


C0FE003D_0500

  sqMac upgraded to support 64 nodes
    Reference Number: FP 886
    Type: New Feature
    FPGA Version: 0x0500
   

Description

The sqMac module (the network interface logic) was upgraded to support up to 64 nodes. Key changes include:

larger packet forwarding buffer. Previously 128 bits deep, now 2048 bits (Spartan2/2e) or 8196 bits (Spartan3/3e).

Improved support for pipelined service commands.

 

C0FE003D_0400

  Improved Capture module unified with Probe features
    Reference Number: FP 823
    Type: General Change
    FPGA Version: 0x0500
    Description:

A new unified Capture module was created to replace the older versions of both the Capture and Probe modules. In addition, new trigger features were introduced.

All Capture modules have a base feature set: Single-shot capture with the new trigger select, pre-trigger condition, and filter options. This Single-shot capture replaces the basic capture in prior FPGA versions. Some FPGAs support an additional Auto-arm mode. When enabled by software, Auto-arm uses a capture buffer memory to store multiple capture events (replaces the Probe module in prior FPGA versions).

The new trigger logic is common to all FPGAs (and slightly different to prior FPGA versions). Up to 32 trigger source inputs are available. The exact set of trigger source signals depends on the IO for each node. A trigger event can be selected from any input, with rising, falling, or both edges active. An optional filter function can be used to deglitch the signal. An optional pre-condition (based on the same trigger sources) can be specified: pre-condition high, low, rising edge, falling edge, or both.

For more information about using the new capture features, see Capture Objects.

 

C0FE003D_0400_00_06

  Changed current limit warning back to current limit fault
    Reference Number: FP 662
    Type: General Change
    FPGA Version: 0x0400_00_06
    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

  Support for driveWarning, change current limit faults to warnings
    Reference Number: FP 529
    Type: General Change
    FPGA Version: 0x0400
    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.

  Remove drive reset complete from the fault and fault mask registers
    Reference Number: FP 466
    Type: General Change
    FPGA Version: 0x0400
    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.
   

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.


  The watchdog fault was incorrectly being cleared after being activated
    Reference Number: FP 465
    Type: Bug Fix
    FPGA Version: 0x0400
    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.
   

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.


  Addition of C0FE003D FPGA
    Reference Number: FP 425
    Type: New FPGA
    FPGA Version: 0x0400
    Description:
New FPGA C0FE003D. This FPGA is a runtime image for the the Kollmorgen sqDC4.

  sqMac Version 0300
    Reference Number: FP 407
    Type: New Feature
    FPGA Version: 0x0400
   

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.


  Updated serial stream to the latest format
    Reference Number: FP 400
    Type: General Change
    FPGA Version: 0x0400
    Problem/Cause:
The serial stream for the Kollmorgen SqStep and SqDC drives has changed. These products are supported in the x0400 FPGA release.
   

Fix/Solution:
The FPGA has been updated for the new serial stream.

 

 

 

 

 

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