.

Release Note
MPI Library Version 04.03.00

Release Type
MPI Version
Release Date
Production Release
04.03.00
11Mar2013

 

  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 04.03.00
    <none>

    General Changes
      Version 04.03.00
    <none>
    Fixed Bugs
     

Version 04.03.00
    mpiUserLimitConfig() hangs - MPI2616
    ControlConfigSet() overwrites Axis 2 gear config - MPI2615
    Dependent Objects memory leak - D-04233


    Open Issues
     

Existing Bugs
    <none>

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 04.03.00

<none>

General Changes

Version 04.03.00

<none>

Fixed Bugs

Version 04.03.00

  mpiUserLimitConfig() hangs
    Reference Number: MPI 2616
    Type: Fixed Bug
    MPI Version: 04.03.00
   

Problem/Cause:

Repeated calls to mpiUserLimitConfig() were causing the MPI to go into an infinite loop.

A race condition caused a limit disable call to fail. As a result, a loop in userlimit.c, which waits for the limit to disable, continued looping without an exit.

   

Fix/Solution:
The wait loop was revised to timeout and exit if the limit did not disable.

The race condition causing the disable failure was also removed.

   

Affects to Application Code:
Repeated mpiUserLimitConfig() calls will execute properly.


  ControlConfigSet() overwrites Axis 2 gear config
    Reference Number: MPI 2615
    Type: Fixed Bug
    MPI Version: 04.03.00
   

Problem/Cause:

The Axis 2 gear ratio parameters are corrupted after calling mpiControlConfigSet() to increase the number of allocated Motion Supervisors.

The recent changes in how user limits are enabled (list rather than count) caused limits to be active durning the allocation process. Since the data for the limits was no longer valid, some limits would trigger and their outputs would overwrite the Axis 2 (or other) Gear Config variables.

   

Fix/Solution:
Any limit with a limit number greater than MfwBufferData,SystemConfig.Enabled.UserLimits
is not processed. The MPI sets MfwBufferData,SystemConfig.Enabled.UserLimit to 0 during allocation.

   

Affects to Application Code:
The user limits are disabled during initialization/reallocation so no data is corrupted by their outputs.


  Dependent Objects Memory Leak
    Reference Number: D-04233
    Type: Fixed Bug
    MPI Version: 04.03.00
   

Problem/Cause:

If ControlConfigSet is called after MPI objects are allocated and if those MPI objects are used, it:
- leaks memory for every MPI call using that object
- it prints on the console

   

Fix/Solution:
MPI objects allocated prior to an mpiControlConfigSet call, in which dynamic reallocation is performed, will be considered "obsoleted". The user will have to delete these objects and reallocate them.

   

Affects to Application Code:
If it is desired to capture the configuration of these objects, the user will have to retrieve the configuration using, say, mpiAxisConfigGet on an MPIAxis object, PRIOR to calling mpiControlConfigSet. The stored configuration can be applied on the newly obtained MPIAxis object AFTER calling mpiControlConfigSet.

If an "obsoleted" object as described above is used in an MPI method, the error returned is:
ERROR 0x631: Control: Object cannot be used after reallocation

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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