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Release Note
MPI Library Version 04.02.02

Release Type
MPI Version
Release Date
Production Release
04.02.02
14Nov2012
Production Release
04.02.01
2Nov2012
Production Release
04.02.00
30Sept2012


  Table of Contents
    Notes
      System Requirements
Software Installation Instructions
Important Things to Know - This section highlights the most important changes in this release.
     
    New Features
     

Version 04.02.02
     <None>

Version 04.02.01
     <None>

Version 04.02.00
     AKD-SQ Support - MPI2568
     Compare Feature - MPI2569
     New Controller IO Config Method Implemented - MPI2576

    General Changes
     

Version 04.02.01 - 04.02.02
     <None>

Version 04.02.00
    Power-on Self-test (POST) performance enhancements
    POST LED error codes
    Corrected Metric Delay for subsampled systems

    Fixed Bugs
     

Version 04.02.02
     MeiConfig Support

Version 04.02.01
    meiConfig support
    SaveToFlash missing data - MPI2603

Version 04.02.00
    Limitation on using multiple client threads - MPI2580
    AKD-SQ AnalogOut Not Working - MPI2547
    sqDriveMonitor -info for AKD - MPI2550
    sqPacketConfigSet resets the sample rate to default - MPI2573
    Encoder Ratio reset issue - MPI2589

    Open Issues
     

Existing Bugs

Limitations
    Multiple Drive Map Files
    mpiFilterPostfilterSectionGet and mpiFilterPostfilterGet Unable to Identify Postfilter Types - MPI2284
    Single Thread Access to Interrupts per MPIControl Object - MPI2363
    sqNodeFlash Returns Timeout Error on eZMP server - MPI2512
    SimServer Still Under Development

         

 

New Features

Version 04.02.00

  AKD-SQ Support
    Reference Number: MPI 2568
    Type: New Feature
    MPI Version: 04.02.00
   

Description
Support for AKD SynqNet, as well as Wake and Shake, has been added to the drive module library. For more information, reference the Important Things to Know as well as, the AKD SynqNet Communications Manual.


  Compare Feature
    Reference Number: MPI 2569
    Type: New Feature
    MPI Version: 04.02.00
   

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


  New Controller IO Config Method Implemented
    Reference Number: MPI 2576
    Type: New Feature
    MPI Version: 04.02.00
   

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.

 

General Changes

Version 04.02.00

  Power-on Self-test (POST) Performance Enhancements
    Reference Number: N/A
    Type: Change Feature
    MPI Version: 04.02.00
   

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.


  Power-on Self-test (POST) LED Error Codes
    Reference Number: N/A
    Type: Change Feature
    MPI Version: 04.02.00
   

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.


  Corrected Metric Delay for Subsampled Systems
    Reference Number: N/A
    Type: Change Feature
    MPI Version: 04.02.00
   

Description:

Metric delay for subsampled systems was corrected.

   

Affects to Application Code:
None.

 

Fixed Bugs

Version 04.02.02

  meiConfig Support
    Reference Number: N/A
    Type: Fixed Bug
    MPI Version: 04.02.02
   

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.


Version 04.02.01

  meiConfig Support
    Reference Number: N/A
    Type: Fixed Bug
    MPI Version: 04.02.01
   

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.



  SaveToFlash Missing Data
    Reference Number: MPI2603
    Type: Fixed Bug
    MPI Version: 04.02.01
   

Problem/Cause:

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

   

Fix/Solution:

   

Affects to Application Code:
None.

Version 04.02.00

  Limitation on using multiple client threads
    Reference Number: MPI 2580
    Type: Fixed Bug
    MPI Version: 04.02.00
   

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);


  AKD-SQ AnalogOut Not Working
    Reference Number: MPI 2547
    Type: Fixed Bug
    MPI Version: 04.02.00
   

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


  sqDriveMonitor -info for AKD
    Reference Number: MPI 2550
    Type: Fixed Bug
    MPI Version: 04.02.00
   

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


  sqPacketConfigSet resets the sample rate to default
    Reference Number: MPI 2573
    Type: Fixed Bug
    MPI Version: 04.02.00
   

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


  Encoder Ratio reset issue
    Reference Number: MPI 2589
    Type: Fixed Bug
    MPI Version: 04.02.00
   

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

Open Issues

Existing Bugs

Limitations

  Multiple Drive Map Files
    Reference Number: N/A
    Type: Limitation
    MPI Version: 04.02.xx
   

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.


  mpiFilterPostfilterSectionGet and mpiFilterPostfilterGet Unable to Identify Postfilter Types
    Reference Number: MPI 2284
    Type: Limitation
    MPI Version: 04.02.xx
   

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.


  Single Thread Access to Interrupts per MPIControl Object
    Reference Number: MPI 2363
    Type: Limitation
    MPI Version: 04.02.xx
   

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(...).


  sqNodeFlash Returns Timeout Error on eZMP server
    Reference Number: MPI 2512
    Type: Limitation
    MPI Version: 04.02.xx
   

Description:

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


  SimServer Still Under Development
    Reference Number: N/A
    Type: Limitation
    MPI Version: 04.02.xx
   

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).


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