Release Note
MPI Library Version 04.03.02

Problem/Cause:
mpiUserLimitConfigSet() times out when called repeatedly from different threads.

Two threads writing into the firmware's limit enable queue would cause occasional missing entries in the queue. In that case, the thread waiting for the enable would time out.

Fix/Solution:
A lock was used to control access to the firmware's limit enable queue by different threads.

Affects to Application Code:
The enabling of the limits is assured for all threads.

Problem/Cause:
If you do a coordinated motion with hold values set, the hold condition value and timeout value will be word-swapped in axis 1, but OK in axis 0 (assuming a 2-axis motion).

Fix/Solution:
Word-swapping was fixed.

Affects to Application Code:
Coordinated motion with holds work correctly for release holds correctly on all axes.

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 When multiple drive map files are present, it is possible that meiConfig will use the wrong one or an out of date .dm file.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.

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).