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Release Note
MechaWare Version 03.02.xx

MechaWare Version MPI Release Release Date
03.02.11 03.04.26
Patch Release
18-Jul-2011
03.02.09 03.04.24
Patch Release
16-Feb-2011
03.02.08 03.04.23
Patch Release
2-Dec-2010
03.02.07 03.04.21
Patch Release
5-May-2009
03.02.06 03.04.17
Patch Release
16-Dec-2008
03.02.05 03.04.14
Patch Release
21-Jul-2008
03.02.04 03.04.13
Patch Release
2-Jun-2008
03.02.03 03.04.12
Patch Release
20-Feb-2008
03.02.02 03.04.11
Patch Release
1-Feb-2008
03.02.01 03.04.11
Patch Release
9-Nov-2007
03.02.00 03.04.08
Patch Release
25-Jul-2007
03.02.Beta0 03.04.08
Patch Release
16-Jul-2007

Installation Note: The latest MPI Library must be installed before installing MechaWare. Please see Installing the Motion Development Kit (MDK) for instructions on installing the MPI Library before installing MechaWare.

System Requirements
Important Things to Know
Software Installation Instructions

This release note documents the general changes and open issues from the 03.02Beta0 to the 03.02.03 MechaWare release.

  Table of Contents
    New Features
     

See Important Things to Know


    General Changes
     

Version 03.02.09

MWLoader.h needs preprocessor directive - MW59

Version 03.02.08

LOOKUP Blocks Supporting 5000 Entries - MW56

Version 03.02.03

MechaWare firmware optimization - MW34

UserData and BlockName fields moved to new structure

Changed optimization switch for firmware compilation

Source file change: MW.h

Source file change: xmpMWmap.c

Source file change: MwLoader.c

Source file change: MWTest.c

Source file change: MWCustomTest.c

Source file change: mwutils.c

Source file change: MWIOTest.c

Version 03.02.02

All MechaWare blocks now support the User Data and Subsample fields - MW33

FEEDBACK and FEEDBACK_VELOCITY blocks restored to original functionality - MW32

Version 03.02.01

Modulo block now supports up to 52-bit input - MW21

Version 03.02.00

Changes in Firmware
Changes in mdl2mw.exe
Changes in mwblocks.mdl




    Fixed Bugs
     

Version 03.02.11

PIV_GT the Noise Input Gain the Position (Ka0) is Bad - MW61


       
    Open Issues
     

Existing Bugs

N/A


     

Limitations

MechaWare firmware optimization

Dacout does not shutdown on abort

API does not support  Subsampling

API does not support User Data Storage

         

General Changes

Version 03.02.09

  MWLoader.h needs preprocessor directiveback to top
    Reference Number: MW59
    Type: Bug
    Version: 03.02.08
   

Description

MWLoader is a C header file. When compiled with a C++ compiler, there are link errors.

The following code needs to be added to the beginning:

#if defined(__cplusplus)

extern "C" {

#end if

And the following code needs to be added to the end:

#if defined(__cplusplus)

}

#endif

Now user does not need to add preprocessor directives in their code.

Note: All other Mechaware headers have this directive except for Mechaware.h, Mechawareblocks.h, and MeiExceptions.h. These files are C++ headers and do not need it.

Version 03.02.08

  LOOKUP Blocks Supporting 5000 Entriesback to top
    Reference Number: MW56
    Type: Change Feature
    Version: 04.00.05
   

Description

The MechaWare Model Downloader (mdl2mw.exe) only supports up to 320 entries when downloading a LOOKUP block.

Fix/Solution:

The limit was increased to 5000 entries.

Version 03.02.03

  MechaWare firmware optimizationback to top
    Reference Number: MW34
    Type: Change Feature
    Version: 03.02.03
   

Description
The firmware execution time has increased since MechaWare version 03.01. As of version 03.02.03, the firmware optimization has been increased and unneeded data removed from time-critical structures in the MechaWare firmware.


  UserData and BlockName fields moved to new structure back to top
    Type: Change Feature
    Version: 03.02.03
   

Description
The UserData and BlockName fields were moved from the MEIXmpMWProgram{} structure to a new structure, MEIXmpMWProgramUser{}.


  Changed optimization switch for firmware compilation back to top
    Type: Change Feature
    Version: 03.02.03
   

Description
Changed optimization switch for firmware compilation from –g (some optimization for debugging) to –g3 (no optimization disabled).


  Source file change: MW.h back to top
    Type: Change Feature
    Version: 03.02.03
   
Description
  1. Added MEIXmpMWProgramUser{} structure definition:
    typedef struct {
    	long	UserData[MEIXmpMWUserDataSize];
    	long	BlockName[MEIXmpMWBlockNameSize];
    } MEIXmpMWProgramUser;
    
  2. Removed UserData and BlockName fields from MEIXmpMWProgram{} structure definition:
    typedef struct {
    	MEIXmpMWBlockType	BlockType;
    	void			*BlockPtr;
    	long			SubSampleMask;
    } MEIXmpMWProgram;
    
   
Risk

Very Low


  Source file change: xmpMWmap.c back to top
    Type: Change Feature
    Version: 03.02.03
   
Description
  1. Added additional paths for input files to facilitate testing (no impact).
  2. Added parsing for MEIXmpMWProgramUser structure for creation of labels
   
Risk

Very Low


  Source file change: MwLoader.c back to top
    Type: Change Feature
    Version: 03.02.03
   
Description
  1. Changed references for UserData and BlockName
  2. Revised download method to store new MEIXmpMWProgramUser structure at the end of MEIXmpMWProgram storage.
   
Risk

Very Low


  Source file change: MWTest.c back to top
    Type: Change Feature
    Version: 03.02.03
   
Description

Revised GetBlockName() to read block name from MEIXmpMWProgramUser{}.

   
Risk

Very Low


  Source file change: MWCustomTest.c back to top
    Type: Change Feature
    Version: 03.02.03
   
Description

Revised GetBlockName() to read block name from MEIXmpMWProgramUser{}.

   
Risk

Very Low


  Source file change: mwutils.cback to top
    Type: Change Feature
    Version: 03.02.03
   
Description
  1. Revised GetUserData() to read user data from MEIXmpMWProgramUser{}.
  2. Revised SetUserData() to write user data to MEIXmpMWProgramUser{}.
  3. Revised GetBlockName() to read block name from MEIXmpMWProgramUser{}.
   
Risk

Very Low


  Source file change: MWIOTest.cback to top
    Type: Change Feature
    Version: 03.02.03
   
Description
  1. Changed FEEDBACK block test to check correct input address for block:
    &buffer->Motor[axisNum].IO.Encoder[0].DefaultPtr
  2. Changed FEEDBACK_VELOCITY block test to check correct input address for block:
    &buffer->Motor[axisNum].IO.Encoder[0].DefaultPtr
   
Risk

Very Low


 

Version 03.02.02

  All MechaWare blocks now support the User Data and Subsample fieldsback to top
    Reference Number: MW 33
    Type: Change Feature
    Version: 03.02.02
   

Description
The Constant, Sign, and Deadband blocks in the 03.02.01 release did not support User Data and Subsample fields. All blocks now support these fields, although the Subsample field has no effect on the behavior of the Constant block.


  FEEDBACK and FEEDBACK_VELOCITY blocks restored to original functionalityback to top
    Reference Number: MW 32
    Type: Change Feature
    Version: 03.02.02
   

Description
The behavior of the FEEDBACK and FEEDBACK_VELOCITY blocks changed between the 03.02.00 and 03.02.01 releases. These blocks now behave identically to the way they did in the 03.02.00 release.

 

Version 03.02.01

  Modulo block now supports up to 52-bit input back to top
    Reference Number: MW 21
    Type: Change Feature
    Version: 03.02.01
   

Description
The modulo block input range limit has been increased. Previously, the modulo block was limited by internal use of a 32-bit integer. The intermediate 32-bit integer used has been replaced by a 64-bit integer. The modulo block can now be used for inputs outside the 2^31 bit range.

The old limit was -2^31 to 2^31-1. The new limit is -2^53 to 2^53-1.

 

Version 03.02.00

  Changes in Firmwareback to top
    Version: 03.02.00
   

Description
Changes in Firmware (633B1 to 633B5) Option 20 only

  • Corrected initialization of motor pointers for GainIndex and NodeIntegratorDisable
  • Corrected calculation of output for 2D lookup block for VECTOR type lookup

  Changes in mdl2mw.exe back to top
    Version: 03.02.00
   

Description
Changes in mdl2mw.exe

  • Corrected address for Feedback block
  • Added error checking of 2D lookup block input files

  Changes in mwblocks.mdl back to top
    Version: 03.02.00
   

Description
Changes in mwblocks.mdl

  • Corrected Matlab simulation portions of the MechaWare blocks.

 

Fixed Bugs

Version 3.02.11

  PIV_GT the Noise Input Gain the Position (Ka0) is Badback to top
    Reference Number: MW61
    Type: Fixed Bug
    Version: 03.02.01
   

Problem/Cause:

The Ka0 is not the correct input gain for position because the M/W library model was bad. The firmware was the same as the bad model.

Fix/Solution:

Changed the M/W model correctly and the firmware as it.

Ka0 is the noise input gain of the position. Ka2 is the noise input gain of the velocity.

 

 

Open Issues

Limitations

  Dacout does not shutdown on abortback to top
    Reference Number: N/A
    Type: Limitation
    Version: 03.02.01
    Description
The integrator output for PID and PIV blocks is not cleared during errors. Use the Reset Status block to reset the integrator. The Cmd=Act option must be selected in the motor configuration (AmpDisableAction) to correct for integrator reset action.

  API does not support Subsampling back to top
    Reference Number: N/A
    Type: Limitation
    Version: 03.02.00
    Description
API support for Subsampling will be added in a future release.

  API does not support User Data Storage back to top
    Reference Number: N/A
    Type: Limitation
    Version: 03.02.00
    Description
API support for User Data Storage will be added in a future release.

 

 

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