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MechaWare Release Notes 04.00.06

MechaWare Version
MPI Version
Release Date
Production Release
04.00.06
25Jan2011
Production Release
04.00.05
06Oct2010
Production Release
04.00.04
24Jun2010
Production Release
04.00.03
19Apr2010
Production Release
04.00.02
14Dec2009
Production Release
04.00.01
13Oct2009

Installation Note: The MPI 4.0 library must be installed before installing MechaWare. For more information about instructions on installing the MPI Library, see Installing the Motion Development Kit (MDK).

System Requirements
Important Things to Know - This section highlights important changes for this release!
Software Installation Instructions

  Table of Contents
     
    New Features
     

For additional information about new features, see Important Things to Know.

Version 04.00.05
    Add/Clear Option For Reclaiming MechaWare Buffer Space - MW51

 

    General Changes
     

Version 04.00.05
    LOOKUP Blocks Supporting 5000 Entries - MW56


    Fixed Bugs
     

Version 04.00.06
    Control IO Output Block Problem - MW58

Version 04.00.05
    Accessing ZMP Memory - MW55
    MSB Problem in MEMOUT, MEMOUT_USER, and MEMOUT - MW54
    ATAN2 X and Y Inputs Incorrect - MW53

Version 04.00.01
    mdl2mw Check Filt Coeff Indiceres - MW39
    MATLAB Utilities Not Checking for Valid Ts Parameter - MW40
    BiQuad Lookup Interpolation - MW43


    Open Issues
     

Existing Bugs

Currently no existing bugs.

           
     

Limitations

Currently no known limitations.

         

 

New Features

Version 04.00.05

  Add/Clear Option For Reclaiming MechaWare Buffer Space
    Reference Number: MW51
    Type: New Feature
    MPI Version: 04.00.05
   

Description:
The MechaWare Model Downloader (mdl2mw.exe) now supports the -clearFirst option, which erases any existing models on the controller before download.

   

How do I use this feature?

This option should be used to clear the MechaWare block buffer without performing a controller reset.

 

General Changes

Version 04.00.05

  LOOKUP Blocks Supporting 5000 Entries
    Reference Number: MW56
    Type: Change Feature
    MPI 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.

 

Fixed Bugs

Version 04.00.06

  Control IO Output Block Problem
    Reference Number: MW58
    Type: Fixed Bug
    Version: 04.00.06
   

Problem/Cause:

The Control IO Output block outputs the wrong bit number from the controller when downloading mdl2mw. The mdl2mwI translated the bit number incorrectly.

The mdl2mw incorrectly converts the bit number from model to the firmware bit. Additionally, the bit number was not written to the firmware memory.

   

Fix/Solution:

The model_utils.c was corrected to display the model bit number and the control bit number when downloading.

Version 04.00.05

  Accessing ZMP Memory
    Reference Number: MW55
    Type: Fixed Bug
    Version: 04.00.05
   

Problem/Cause:

When use the mpiPlatformMapController(), it assigns an address from 0x80000000 or 0x81000000. However, mdl2mw could not assign an address greater than 0x80000000.

This was caused by handling the address as long.

   

Fix/Solution:

The handling of the address was corrected to unsigned long.


  MSB Problem in MEMOUT, MEMOUT_USER, and MEMOUT_EN
    Reference Number: MW54
    Type: Fixed Bug
    Version: 04.00.05
   

Problem/Cause:

If a MEMOUT, MEMOUT_USER, or MEMOUT_EN block with a data type of INT32 was given an input value greater than 2,147,483,647 (0x7FFFFFFF), the value is truncated to the specified value.

This was caused by the input value being converted to a signed integer.

   

Fix/Solution:

The input value is treated as an unsigned integer before being written out. This allows output such as those from the BROL block to retain the most significant bit.


  ATAN2 X and Y Inputs Incorrect
    Reference Number: MW53
    Type: Fixed Bug
    Version: 04.00.05
   

Problem/Cause:

The ATAN2 X input and Y input are turned upside down.

   

Fix/Solution:

The ATAN2 funstion was corrected to ATAN2[Y, X]

 

Version 04.00.01

  mdl2mw Check Filter Coeff Indices
    Reference Number: MW39
    Type: Fixed Bug
    Version: 04.00.01
   

Problem/Cause:

A biquad file with duplicate Coeff indices loads coeffs more than once, replacing the first and leaving undefined values.

The problem was caused because the Coeff indices were never checked for duplicates.

   

Fix/Solution:

The file parsing routine checks for duplicates. If a duplicate index is found, the parsing routine returns MPIMechaWareMessageBIQ_FILE_INVALID and mdl2mw exits.


  MATLAB Utilities Not Checking for Valid Ts Parameter
    Reference Number: MW40
    Type: Fixed Bug
    Version: 04.00.01
   

Problem/Cause:

MATLAB utilities in C:\MEI\MechaWare\Matlab\v14\Utilities do not check whether Ts parameter is valid.

The problem is caused when a value larger than 0.001 is specified and no error message is returned.

   

Fix/Solution:

MATLAB utilities now verify if Ts parameter is valid. If a value larger than 0.001 is specified, an error message is returned.


  BiQuad Lookup Interpolation
    Reference Number: MW43
    Type: Fixed Bug
    Version: 04.00.01
   

Problem/Cause:

The biquad lookup algorithm for Fixed Lookup types extrapolated the coefficients when the input was below the minimum value or above the maximum value (min + # of biquads * delta).

   

Fix/Solution:

The problem was corrected by limiting the input to the range of the lookup.


Open Issues

Existing Bugs

Currently no existing bugs.

Limitations

Currently no known limitations.

 

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