Release Note
MPI Library Version 04.02.01

Description
Support for AKD SynqNet, as well as Wake and Shake, has been added to the drive module library. For more information, consult the AKD SynqNet Communications Manual, found here: http://www.kollmorgen.com/en-us/products/drives/servo/akd/#tab3.

Description
A new compare object was added to the MPI library. The compare feature generates a hardware output signal at hardware speed.

Problem/Cause:

Client/Server architecture did not support multiple client threads.

The Server architecture was not compatible with multiple client-side threads. All client-side threads shared the same server connection to the same server thread. The result was that locks were not honored on the server, since it was the same server thread acquiring and releasing locks.

Fix/Solution:
Every client thread has a separate server thread.

Pass in a Control object to mpiThreadCreate(). Client side threads should now work fine in Client/Server mode.

Affects to Application Code:
The MPI method mpiThreadCreate was changed. A new control object argument was added. This is the new prototype:

MPI_RESULT mpiThreadCreate(MPIControl control, MPIThread, MPIThreadOptions *options);

Problem/Cause:

The AnalogOut NodeIO feature of the AKD-SQ drive was not functional. The packet configuration was corrupt due to a math error in the compare module. This caused the analog out pointer to be offset.

Fix/Solution:
The math error in the compare module was fixed. The analog out pointer is now correct and it is available at the pin.

Affects to Application Code:
N/A

Problem/Cause:

The info displayed in the sqDriveMonitor -info for AKD was incorrect. This was caused by an incorrect description in the node library spec.

Fix/Solution:
The monitor index description in the node library spec was corrected. sqDriveMonitor -info now displays the correct information.

Affects to Application Code:
N/A

Problem/Cause:

sqPacketConfigSet reset sample rate to default. This problem occured because sqPacketConfigSet was calling mpiControlResetToDefault.

Fix/Solution:
This problem was corrected by adding a new flag to the Controller object called resetSampleRate. This flag is set whenever the sampleRate is reset, and is checked by mpiControlResetToDefault before resetting the sampleRate and TX Time. This fix prevents sqPacketConfig from reseting the sampleRate and TX Time.

Affects to Application Code:
N/A

Problem/Cause:

The encoder ratio is not retained after a reset, even if the topology is saved to flash. This was caused by a typo is the structure name, which was reseting the ratio to zero.

Fix/Solution:
The typo was replaced with the correct structure name. Now the encoder ratio values are retained after a meiReset, when the topology is saved to flash.

Affects to Application Code:
N/A

Problem:

When postfilters are set to the controller by using mpiFilterPostfilterSectionSet(...) or mpiFilterPostfilterSet(...) and a variable representing a frequency is close to zero or the Nyquist frequency, mpiFilterPostfilterSectionGet, mpiFilterPostfilterGet are unable to identify the postfilter type.

Cause:

This limitation occurs because the postfilter type is not stored on the controller. Instead the MPI attempts to identify the postfilter type. However, when a specified frequency is close to zero or the nyquist frequency, the precision needed to correctly identify the postfilter type exceeds the precision of the variables on the controller resulting in the inability to correctly identify the postfilter type.

Indentification problems occur when a specified frequency is within 0.5% of the Nyquist frequency of zero. For a sample rate of 2 kHz, the Nyquist frequency is 1 kHz resulting in identification problems occurring when specified frequencies are in the range of 0-5 Hz or 995-1000 Hz.

Description:

Two built-in MPI features use interrupts: the event service routine and the SyncInterrupt feature. However, only one thread may access interrupts when accessing a controller over a client-server connection.

The controller event service routine started by mpiControlEventServiceStart(...) uses interrupts when MPIWaitFOREVER is specified for the sleep parameter. Other values for the sleep parameter allows the event service thread to run in polling mode. In order to use the SyncInterrupt feature, the event collection thread must use polling or the SyncInterrupt routine must call mpiControlProcessEvents(...).

Description:

While running server.exe on the eZMP with S200, a timeout error occurs when sqNodeFlash.exe is run on the client PC.

Description:

At the time of the release, the development of SimServer had not been completed. This feature is released as a standalone package and is not included in the MPI distributables. SimServer is planned to be completed and supported in the next MPI release (04.02.01).