Release Note
MechaWare Version 03.02.xx

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.

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.

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.

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

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

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

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

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

Description

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

Risk

Very Low

Description

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

Risk

Very Low

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

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

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.

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.

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.

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

Description
Changes in mdl2mw.exe

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

Description
Changes in mwblocks.mdl

• Corrected Matlab simulation portions of the MechaWare blocks.