Description
Several MechaWare models fail to load or execute correctly when the firmware version changes. This incompatibility is present when the version of MW.H used for downloading models is different from the MW.H version of the loader used to create the .bin file. Similarly, the version of the loader must match the version of the firmware running on the controller. Because MechaWare versions are independent of Firmware and MPI versions, a new version (MechaWare firmware header, MW.H) is required.
To resolve this issue, MechaWare version information was added to the firmware data structures (XmpData.SystemData.Software).The MechaWare version changes that cause incompatibility are changes to the MW.H. version. This information is now defined in the header file mdl2mw and was modified to verify the version of MW.H for the loader used to create a .bin file is the same version as the one used to download it. Note the version of MW.H for the firmware running on the controller is also checked when loading .bin files.
If a version incompatibility is encountered, mdl2mw displays an error. |