Release Note
MPI Library Version 04.02.05

Description:

The compare delta (Divide-By-N) mode generates a sequence of output signal pulses based on position feedback (at hardware speeds). For example, the pulses might begin at position 1,000,000 and repeat every 262,144 (2^18) counts until they stop at 10,000,000.

The divide-by-N feature is typically used to trigger external devices, such as a camera, at precise locations along an axis, with very high accuracy and low latency.

Note at introduction, only the AKD-SynqNet drive supports this feature. AKD-SynqNet firmware must be V01-08-00-005 or later.

See the API documentation for software object and method details. See the "Topics" documentation for an overview of the feature and programming suggestions.

Description
A new feature was added that allows configuration of controller IO by changing the values in the controller flash. To use this feature, update the flash on the controller and perform a meiReset. This feature is also backwards compatible.

Description:

Memory Get functions (mpiPlatformMemoryGet(), mpiControlMemoryGet(), etc.) now take advantage of Intel burst mode instructions (SSE instructions). This can increase the performance of reads from controller memory by a factor of 4.

Affects to Application Code:
None.

Description:

• Under certain conditions, where the jerk or acceleration is decreased from that of the original move, a modified move may exceed the maximum specified velocity. These conditions will now return a profile error (MPIMotionMessagePROFILE_ERROR) from the calling function, and the move will not be modified. To avoid this error, the jerk and acceleration should not be decreased for modifying moves.
• More information can be found at: http://support.motioneng.com/fuji/Profile_errors_due_to_low_jerk_parameters.pdf

Affects to Application Code:
None.

Description:

POST now takes less than a second. This allows for mpiControlCreate() commands to be issued as quickly as possible. Error codes returned while POST is still running were improved to reflect this situation, instead of returning POST failures.

Affects to Application Code:
None.

Description:

The POST LED (if available on board) now displays the same error code as the Status (or Debug) LED.

Affects to Application Code:
None.

Description:

Metric delay for subsampled systems was corrected.

Affects to Application Code:
None.

Problem/Cause:
Profile error incorrectly generated when initial or final velocities are higher than MaxVelocity.

Recent firmware modifications check for any frame that has a velocity greater than the slewing velocity (MaxVelocity). This check was causing profile errors for two type of moves:
1) Modify of move that has a velocity greater than that of the modifying move.
2) Start or modify where the final velocity exceeds the slewing velocity.

Fix/Solution:
The firmware check was revised to only return an error for frames that have a velocity in excess of the maximum of the initial, final, or slewing velocity.

Affects to Application Code:

Problem/Cause:
User Limits using MPIUserLimitConditionTypeCAPTURE_STATE configure incorrectly.

This was caused by an incorrectly calculated SourceAddress for the user limit condition. The map module was using the wrong structure offset in calculation the pointer used to configure the limit's input.

Fix/Solution:
The Map Module code calculating the pointer was corrected.

Affects to Application Code:

Problem/Cause:
Windows 3.3.8 driver is not backward compatible with MPI 4.2.3 and older.

Fix/Solution:
A new driver has been released. Version 3.3.9.

Affects to Application Code:

Problem/Cause:
Previous device drivers for 64-bit Windows 7 have a memory leak that affects performance.

Fix/Solution:
This release includes a new driver, version 3.38, that corrects this problem. This driver is required when using MPI 04.02.04, you may not use previous drivers with this release. The 3.38 device driver is also backwards compatible with earlier 04.02.xx releases should you choose to use it.

Affects to Application Code:

Problem/Cause:

meiConfigGui produced a warning “Schema Info Missing” as it processed the uploaded configuration.

Fix/Solution:

This warning message no longer occurs. MeiConfig and meiConfigGui now function as intended.

Affects to Application Code:
None.

Problem/Cause:

meiConfig.exe and meiConfigGUI.exe were temporarily removed from the MPI for the 04.02.00 release. Development of these utilities was completed and are available in the 04.02.01 release.

Fix/Solution:
Development of these utilities was completed and they are available in the 04.02.01 release.

Affects to Application Code:
meiConfigGui produces a warning “Schema Info Missing” as it processes the uploaded configuration. This doesn’t adversely affect its operation.

Problem/Cause:

Save to flash did not save AxisConfig's HoldConditions, EStopModify, and TriggerModifyPoint data.

Fix/Solution:

Affects to Application Code:
None.

Problem:

Multiple *.dm files in the node directory may cause unexpected results when using meiConfig. It is recommended that you only have one file in this directory with the .dm extension per drive type. When multiple drive map files are present, it is possible that meiConfig will use the wrong one or an out of date .dm file.

Cause:

MeiConfig expects a clean directory and doesn’t know about copies and test DM files. MeiConfig reads every  file with a .dm extension, and uses the first instance where the CONTENTS of the drive map file match the drive type.