.

Release Note
MPI Library Version 04.04.11

Release Type
MPI Version
Release Date
Production Release
04.04.11
06Nov2019
Production Release
04.04.09
30Apr2019
Production Release
04.04.08
30Apr2019
Production Release
04.04.07
30Apr2019
Production Release
04.04.06
25Oct2018
Production Release
04.04.05
23Aug2018
Production Release
04.04.04
26Jun2018
Production Release
04.04.03
24May2017
Production Release
04.04.02
18Nov2016
Production Release
04.04.01
18Nov2016
Production Release
04.04.00
15Apr2016

 

  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 04.04.11
    Add QMP-LT Support to MPI

Version 04.04.00
    64-bit applications are now supported

    General Changes
      Version 04.04.00
     Firmware Pointer Changed to uint32_t
     MPI Function Changes
     Dual Compare

    Fixed Bugs
     

Version 04.04.09
    QMP flash timeout error

Version 04.04.08
    SqDC4 command position drift
    Remove mpiMotorRatioModuloReInitialize from MPI
    Encoder Position Jump
    Motion will unexpected done event if axis list has been changed in another MS
    mpiMotionMemorySet will report an INVALID parameter if target address is not msData object    
    MPI cannot open drive map files on Win64 OS

Version 04.04.07
   SynqNet data transfer may fail with "windows service" thread

Version 04.04.06
   LOCK and UNLOCK Code for Multi-Tasking Was Missing

Version 04.04.05
    The Compute Command of The Sequencer Does Not Work

Version 04.04.04
    Example compareDelta.c Not Working
    Erasing The Boot Sector on a ZMP Causes The Flash Chip to Hang

Version 04.04.03
    Downstream Errors on SynqNet Nodes
    seq1.c does not work on QMP
    mpiMotionPositionGet() Receives Incorrect Position Data
    S200 Tools Initialization Fails in 04.04.02

Version 04.04.02
    Incorrect MoScope HEX Format Export Data
    Firmware Address Size Check for MPI 64bit
    mpiUserLimitConfigSet/Get()
    Unexpected NearTarget (Coarse) Status
    Fixed Motor Gear Problem
    ESTOP-ABORT Does Not Work on Cordinated Motion
    MPIRecorderRecordTypeAXIS Bug

Version 04.04.01
    mpiMapPtrToSymbol() Function Does Not Work With MPICapture.Data.State address

Version 04.04.00
    <none>

    Open Issues
     

Existing Bugs
    <none>

Limitations
    Motion Console and Motion Scope Require Administer User Permissions
    Simserver
    MechaWare

         

New Features

Version 04.04.011

  Add QMP-LT Support to MPI
    Reference Number:
    Type: New Feature
    MPI Version: 04.04.11
   

Description:

Add support for the new QMP-LT controller using the P1011 CPU at 400MHz instead of the P2010 used on standard QMPs at 800MHz and 1200MHz.

New features include:

Qboot 2.25
Frmware version 920
FPGA release version 330 including new AA01 FPGA type for QMP-LT
SynqNet schedule constants for QMP-LT

Version 04.04.01 - 04.04.10

No new features

Version 04.04.00

64-bit applications are now supported

General Changes

Version 04.04.00

  Firmware Pointer Changed to uint32_t
    Reference Number:
    Type: Change Feature
    MPI Version: 04.04.00
   

Description:

The new firmware pointer ‘_MFWPTR_ (type)’ clearly distinguishes between 32-bit firmware pointer and 32-bit or 64-bit host pointer.

It is defined in MFPTR.H. MFWPTR.H is an additional header file to access 32-bit firmware from a 64-bit host. And the 64-bit host handles the 32-bit firmware pointer as 'uint32_t'. No changes have been made to the 32-bit host.

Related definitions:

MPI64: Identifies whether running a 64-bit OS or 32-bit OS. If it has been defined, it handles pointer of the firmware as ‘uint32_t’.

MPI_PLATFORM_WIN64: The identifier for Microsoft Windows7 64 bit.

 

  MPI Function Changes
    Reference Number:
    Type: Change Feature
    MPI Version: 04.04.00
   

Description:

A new argument '_MFWPTR_(type)' was added to support 32-bit firmware pointers on a 64-bit host. It is found in the following functions:

For more information see the Important Things to Know section.

 

  Dual Compare
    Reference Number:
    Type: Change Feature
    MPI Version: 04.04.00
   

Description:

The MPICompareConfig structure now includes an additional member ‘engineNumber’ to support multiple compare engines for a given motor. The default value should be set to ‘0’.

At this time, the AKD drive supports engineNumber 0 and 1 (aka dual compare).

Fixed Bugs

Version 04.04.09

  QMP flash timeout error
    Reference Number: MPI 2768
    Type: Fixed Bug
    MPI Version: 04.04.09
   

Problem:

There is timeout error when firmware is written to QMP (CPCI). This was only seen on certain operating systems on certain flash chips.

   

Cause:

The flash timeout was traced to a software bug. Bug won't be exposed when flashing firmware.

   

Fix/Solution:

The flash timeout has been corrected.

Version 04.04.08

  SqDC4 command position drift
    Reference Number: MPI 2767
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

The ZMP command position may drift for SqDC4 drives. This may occur if the SqDC4 drive has some load while holding position. The rate of position drift depends on the motor and load.

   

Cause:

The solution was a change in the MPI code so that the ZMP PID will ignore the AmpActive status from SqDC4. The MPIMotorDedicatedInAMP_ACTIVE bit for SqDC4 SqNode library is NOT set, which will cause the ZMP to ignore the AmpActive status.

   

Fix/Solution:

The position drift occurs because the SqDC4 toggles the AmpActive state on/off/on even though the ZMP continuously requests AmpEnable. When AmpActive toggles off, the ZMP's PID is momentarily disabled and the "command = actual" disable feature may allow ZMP command position to drift. Note this use of the AmpActive was introduced in MPI 2628 "AKD-SQ Reduce Position Jump on Amp Enable" (MPI 04.03.05).

With the updated MPI, the ZMP will instead use the AmpEnable state to control disable behavior of ZMP PID.


  Remove mpiMotorRatioModuloReInitialize from MPI
    Reference Number: MPI 2766
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

In the previous specification, the controller init would called motor config set if the motor had a gear ratio under certain conditions. This is for re-calculation of the gear position because if contoller initialization was done first time after power on, and gear ratio has been flashed, the intial position might be wrong position if resolution is very high and it had ABS initial position. That original cause was overflow of firmware register.

   

Cause:

However, the firmware overflow issue was fixed in MP2728 already. Therefore motor re-initialization process was no longer useful. And this re-initial process might become an unexpected operatioin if customer configures the controller with unique motor link. (This case is posted by MPI2765)

   

Fix/Solution:

The motor re-configuration was removed from controller initial process. MPI and controller should be correct operation in any case.


  Encoder Position Jump
    Reference Number: MPI 2765
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

If customer configured unique axis-motor link (like an Axis0 referred Motor1 encoder as feedback), and linked motor has been configured with a gear ratio, Axis0 encoder will jump if controller is initialized.

This problem occured when Motion Console was refreshed because it initialized the controller.

   

Cause:

This cause is in motor re-configuration in controller initialization process. In expected operation, MPI will skip this motor configuraton if the motor enabled. However, this skip condition was incomplete and only the same axis and motor numbers were checked. Therefore, if customer configured unique link between axis and motor, the encoder position jumped.

   

Fix/Solution:

The cause of this route is reconfiguration, but this feature was no longer needed.
(See MPI2766). Because we removed re-configuration from controller initialization process, encoder jump issue is also fixed now.


  Motion will unexpected done event if axis list has been changed in another MS
    Reference Number: MPI 2764
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

Motion will unexpected done event if axis list has been changed in another MS.

If customer is using multi thread or multi process application, and if these program are running on paralell that one task changed axis map configuration and other task called motion start and wait an event, the FW might notifed the unexpected done event.

   

Cause:

This cause is in axis map change process. So far, MPI could changed the axis map in anytime.
But FW process is refering mapped axis count for the loop for MS status control internaly. Therefore if MPI changed axis list to smaller than previous during MS processing of FW, FW refered to unexpected axis list as '0'. This was cause of unexpected event notified.

   

Fix/Solution:

For axis map control, we changed the MPI to call the MPIActionMAP internally. In new MPI, FW will set the axis count to ZERO by MPIActionMAP first. And if FW conpleted that process, MPI will set the new axis map and new axis count. This process allows you to synchronize between MPI and FW so you can fix unexpected events.


  mpiMotionMemorySet reports an INVALID parameter if target address is not msData object
    Reference Number: MPI 2763
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

The mpiMotionMemoryGet and mpiFilterMemoryGet/Set did not work correctly.

   

Cause:

These function's address validation was broken and it would return the MPIMessageARG_INVALID unpredictably.

   

Fix/Solution:

Now the functions sould be work collectly.


  MPI cannot open drive map files on Win64 OS
    Reference Number: MPI 2760
    Type: Fixed Bug
    MPI Version: 04.04.08
   

Problem:

In Windows 64 OS, customer could not open the drive map with sqDriveConfig tool.

   

Cause:

This cause is in MPI source code. So far, sqDriveConfig could be run on WIn32 only, not in Win64. This was the bug.

   

Fix/Solution:

Now, we can run this tool on Win64 too.

Version 04.04.07

  SynqNet data transfer may fail with "windows service" thread
    Reference Number: MPI 2757
    Type: Fixed Bug
    MPI Version: 04.04.07
   

Problem:

If customer is using certain MPI methods as both Service and Application, controller will lose synchronization sometimes.

   

Cause:

The MPI lock control didn't support global lock control. Since, MPI lock did not support global control, If customer was using a Windows Service, the lock control between service and application layer was not functional.

   

Fix/Solution:

Now we can use MPI on both Service and Application at the same time.

Version 04.04.06

  Erasing The LOCK and UNLOCK Code for Multi-tasking Was Missing
    Reference Number: MPI 2755
    Type: Fixed Bug
    MPI Version: 04.04.06
   

Problem:

Because there is no LOCK and UNLOCK, if multiple threads call those functions at the same time, they collide and the functions can not return the correct value.

   

Cause:

LOCK and UNLOCK missing from the source code.

   

Fix/Solution:

Added LOCK and UNLOCK code to the mpiAxisCommandPositionGet(), the mpiAxisActualPositionGet() and other functions.

Version 04.04.05

  The Compute Command of the Sequencer Does Not Work
    Reference Number: MPI 2754
    Type: Fixed Bug
    MPI Version: 04.04.05
   

Problem:

The Compute command of sequencer could not work.

   

Cause:

A bug was found in the firmware. The compute command could not refer to the target address.

   

Fix/Solution:

This problem was fixed by a firmware code change. The compute command should work from 918A5.

Version 04.04.04

  Example compareDelta.c Not Working
    Reference Number: MPI 2751
    Type: Fixed Bug
    MPI Version: 04.04.04
   

Problem:

MPI had a wrong operation of the address in compare configuration.

   

Cause:

Coding error.

   

Fix/Solution:

The correct operation was implemented.


  Erasing The Boot Sector on a ZMP Causes The Flash Chip to Hang
    Reference Number: MPI 2745
    Type: Fixed Bug
    MPI Version: 04.04.04
   

Problem:

To flush the last flash command, the last address was read back. This code had a bug and it was reading back a different address. Sometimes the address would be close enough to flush the command, and other times it would be completely different from the last address written.

So sometimes the erase was successful, other times it failed.

   

Cause:

The wrong address was used to read back the last command sent to the flash. i.e. the flash chip did not get the last command to erase it and presumably times out.

   

Fix/Solution:

The boot sector erases correctly.

Version 04.04.03

  Downstream Errors on SynqNet Nodes
    Reference Number: MPI 2742
    Type: Fixed Bug
    MPI Version: 04.04.03
   

Problem:

The downstream error count increases every few seconds on all SynqNet nodes. No other errors are visible, and the system continues to run normally.

   

Cause:

The root cause is in the ZMP controller FPGA version 324_A301.fpg and has been resolved in version 325_A301.fpg. This fix is recommended per customer request if the downstream error issue occurs on any MPI 04.xx.xx system. Note these downstream errors are caused by transmit timing errors and should be eliminated if they occur.

   

Fix/Solution:

FPGA version 325_xxxx.fpg has been modified to prevent this issue.

The version 325_xxxx.fpg FPGAs are recommended for all MPI 04.xx.xx versions, and all controller hardware versions.

Note: controller FPGAs are downloaded every time flash.exe updates firmware. The default FPGA version is loaded unless the command line option is used, for example:
cmd> flash.exe -fpga0 325_A301.fpg ZMP913B3.bin
An MPI change is required to modify the default FPGA version.


  seq1.c Does Not Work on QMP
    Reference Number: MPI 2741
    Type: Fixed Bug
    MPI Version: 04.04.03
   

Problem:

Depending on the sequence program, QMP will emit an alignment violation exception error then stop.

   

Cause:

QMP accesses 32 bit data twice and makes 64 bit data now.

   

Fix/Solution:

QMP accessed 64 bit data regardless of 32 bit data and 64 bit data at condition wait and calculation.


  mpiMotionPositionGet() Receives Incorrect Position Data
    Reference Number: MPI 2655
    Type: Fixed Bug
    MPI Version: 04.04.03
   

Problem:

mpiMotionPositionGet() receives incorrect position data when mpiAxisOrginSet() is called.
using mpiAxisCommandPositionGet() or mpiAxisActualPositionGet() returns correct position data.

   

Cause:

After calling mpiAxisOriginSet(), the Axis object executes a sample count wait. In MPI 03, the Motion objects have related Axis objects, so no problem exists. However in MPI 04, the Motion objects does not have related Axis objects and poses a problem as mpiMotionPositionGet() does not know whether mpiAxisOriginSet() is called or not.

   

Fix/Solution:

After calling mpiAxisOriginSet (), the Control object also executes a sample wait. Additionally, the motion objects can call a sample wait function using the control object and axis number.


  S200 Tool Initialization Fails in 04.04.02
    Reference Number: MPI 2739
    Type: Fixed Bug
    MPI Version: 04.04.03
   

Problem:

MPI has a certain initialization function and the argument interface was changed in 04.04.02. However the S200 Tool is unaware of this change, the MPI returned an error by argument mismatch when the function was called.

   

Cause:

This cause is the MPI interface change in 04.04.02.

   

Fix/Solution:

The correct initialization function is now called.

Version 04.04.02

  Incorrect MoScope HEX Format Export Data
    Reference Number: MT 1522
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

When data is exported as hex to file, the values are bad.

   

Cause:

Eg.: When controller data was 0x80000001, exported data was 0x80000000.

   

Fix/Solution:

Also: Hex format display wasn't implemented correctly.


  Firmware Address Size Check for MPI 64bit
    Reference Number: MPI 2732
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

This feature checks and validates the size of firmware address for 64-bit MPI builds.

The size of the firmware address is 32-bit. But if a customer made a mistake and set the wrong software build option, the firmware address becomes a 64-bit value.

This feature is introduced to catch this error. However, it will be 64-bit when customer sets wrong software build option.

   

Cause:

NA

   

Fix/Solution:

Check firmware address size when application call the mpiControlCreate().
If it is bad, it will return "Control: Firmware address size mismatch.".

Call yjr mpiControlCreate()


  mpiUserLimitConfigSet/Get()
    Reference Number: MPI 2730
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

If the application uses the 'Capture State' address by MPIUserLimitConditionTypeCUSTOM and sets configuration using mpiUserLimitConfigSet, then, when calling mpiUserLimitConfigGet(), the type is returned as MPIUserLimitConditionTypeCAPTURE_STATE.

   

Cause:

mpiUserLimitConfigGet().

It is determined only by the address that set the condition type. Additionally, the custom setting is changed to the simple setting of each condition type.

   

Fix/Solution:

The condition type is stored in a firmware field and retrieved when mpiUserLimitConfigGet is called.

The types that are set are read properly in the get functions.


  Unexpected NearTarget (Coarse) Status
    Reference Number: MPI 2729
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

For AKD & S200 drives, if the user generates an Abort action (Disable action), the 'Near Target' status will be TRUE.

   

Cause:

The motor status data was incorrectly getting reflected in the axis status and causing a spurious status.

   

Fix/Solution:

When motion is aborted, the wrong bit from motor status is not copied to the axis status.


  Fixed Motor Gear Problem
    Reference Number: MPI 2728
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

In a certain situations, the motor gearing function did not work well.Example is when using a high value for the resolution and spinning the motor shaft at high speed.

   

Cause:

This problem was in unit size of firmware calculation.

   

Fix/Solution:

The calculation was fixed and the motor gearing works as expected.


  ESTOP-ABORT Does Not Work On Cordinated Motion
    Reference Number: MPI 2726
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

Axes are assigned to the following:

1. MS - Axis map
MS#0: Axis#0
MS#1: Axis#1
MS#3: Axis#0 + Axis#1

2. Motion start
MS#0: start.

3. EStopAbort
MS#2: EStopAbort.

4. Problem
Axis#0 abort soon.

   

Cause:

This problem occurs when two or more axes are assigned to a motion supervisor (MS). The axis staus of the 2 or more axes were not combined properly.

   

Fix/Solution:

When multiple axes are being assigned to a motion supervisor, each axis staus is properly combined to set the motion supervisor status.

It works correctly to abort all the axes at the right time.


  MPIRecorderRecordTypeAXIS Bug
    Reference Number: MPI 2581
    Type: Fixed Bug
    MPI Version: 04.04.02
   

Problem:

When using MPIRecorderRecordTypeAXIS in mpiRecorderRecordConfig(), the
DAC output value was always 0.

   

Cause:

DAC output was assigned filter output and MechaWare firmware does not have filter.

   

Fix/Solution:

Check Mechaware or Standard firmware. If it is Mechaware firmware, DAC output is assigned for Motor commutation input.

Version 04.04.01

  mpiMapPtrToSymbol() Function Does Not Work With MPICapture.Data.State addresss
    Reference Number: MPI 2720
    Type: Fixed Bug
    MPI Version: 04.04.01
   

Problem:

Map: symbol not found is returned when setting the map pointer as MPICapture.Data.State address and calling the mpiMapPtrToSymbol() function.

   

Cause:

Improper coding of the mpiMapPtrToSymbol() function.

   

Fix/Solution:

The mpiMapPtrToSymbol() function was corrected.

Version 04.04.00

<none>

Open Issues

Existing Bugs

<none>

Limitations

  Motion Console and Motion Scope Require Administer User Permissions
    Reference Number: N/A
    Type: Limitation
    MPI Version: 04.04.xx
   

Description:

If installed in the default installation directory (C:\Program files), Motion Console and Motion Scope require administrator privileges to run. This is due to increased security measures by Microsoft in Windows 7 and above. Installing to an alternate directory will circumvent this requirement.

 

  SimServer Still Under Development
    Reference Number: N/A
    Type: Limitation
    MPI Version: 04.04.xx
   

Description:

At the time of the release, the development of SimServer had not been completed. This feature is available as a standalone package and is not included in the MPI distributables.

 

  MechaWare Still Under Development for 64-bit Applications
    Reference Number: N/A
    Type: Limitation
    MPI Version: 04.04.xx
   

Description:

At the time of the release, the development of MechaWare for 64-bit applications had not been completed. This feature is released as a standalone package and is not included in the MPI distributables. MechaWare is planned to be completed and supported in future releases.

Mechaware is available for 32-bit applications in the 04.03 release.

 

 

 

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