MintMT Build 5104 ================= Build Platforms: SC-610 ======================= SC-610 /Hiperface SC-610 /IO /Hiperface SC-610 SC-610 /IO Filenames ========= SC-610 Build 5104 Hiperface.CHX SC-610 Build 5104 IO Hiperface.CHX SC-610 Build 5104 Encoder Resolver.CHX SC-610 Build 5104 IO Encoder Resolver.CHX Release Date ============ 5th December 2002 Release Level ============= Non-Beta. Backward Compatibility Issues ============================= Requires 'B' revision drives. Requires Mint compiler target format 9. Parameter Table version 14: Upgrading from Parameter table version 8+ (Build 5015+) will be done automatically. Parameter Tables (version 8-13) for Drive variants with I/O, are not compatible. The Parameter table will be lost if the drive is updated with firmware supporting an earlier Parameter Table. Recommended to be only used in conjunction with Mint WorkBench (Build 5107). Hold Dip switch has been moved to SW1-5 (from SW1-6) - WorkBench Builds earlier than Build 5107 will not reflect this change in the Spy window. Download Instructions ===================== Consult the Installation Manual supplied with your drive or the copy on the CD. Alternatively, follow the instructions below: 1. Ensure that the controller to be updated is switched off. 2. Start WorkBench. 3. On the opening dialogue box, click on 'Start New Project' 4. Select the COM port the controller is connected to (or select 'Scan all serial ports' if not known). 5. Click on 'Scan': WorkBench will attempt to scan for the controller 6. When complete, select 'Controller with No Firmware on COM#' 7. Click on 'Update Firmware' 8. Select the file corresponding to your controller and click 'Open' to start the download sequence. 9. Turn on the controller: the download sequence will begin. New Features/Changes ==================== Capture buffer size increased to 6000 data points. Hold Dip switch has been moved to SW1-5 (from SW1-6). Host Comms protocol modified to work to 4 decimal places to be compatible with HMI Panel drivers. Implemented Aux Encoder Z Latch Mode for manually controlling the latch mechanism. Initialisation errors and warnings have been redefined. WorkBench can now interrogate the controller to determine the Mint memory usage. Increased Object Manager Flash allocation from 16K to 64K. Parameter Table used on an I/O option drive are now caompatible with other drives. It is no longer possible to download a Parameter Table from an incompatible drive (e.g. from a 2.5Amp drive to a 5Amp drive) AutoStartMode would set to an unsupported ControlMode for TorqueServo Config setting. Added support for reporting MML error strings. Added Symbol Table attribute to define a keyword as old/obsolete - Mint will generate this as a warning. Parameter Table download will now execute faster. Changes to ParamSaveMode - now takes a 'dot' parameter to determine which channel. Changed autotuning to allow zero damping value. Allow ControlMode to be changed whilst the drive is enabled. Added DriveBusUnderVolts keyword, programmable on external 24V 100-series drives. RS485 Baud Rate could be set out-of-range. Embed Feedback type supported in the banner. Changed travel limit parameter for autotuning to be in mm rather than pole pitches. Only store System Time / LifeTime every 30 mins (as opposed to every 3 mins) to preserve EEPROM write-cycle capacity. Added support for specifying a Baud rate at which to download firmware at. Changes to support Bootloader Baud Rates. Allow 115200 Baud at suitable clock frequencies. Implemented the returning of error strings for codes 500, 501 and 502. Allow Temperature limit to be programmable. Support for string data types under MintMT. New MintMT instructions LBOUND and UBOUND which return the lower and upper bounds of an array. New MintMT instructions to SHIFT and ROTATE bits within an integer data type. After enabling the drive, it will now check immediately for any AutoStart conditions. The ADCOffset Trim function has been modified to sample the ADC input on a 100msec tick. Several new Homing modes introduced, giving greater control over the Homing sequence. Automatic Parameter Table upgrades (performed when downloading firmware with a newer Parameter Table format) is now flagged as an initialisation warning. The firmware will not allow a Parameter Table from a non-compatible drive (e.g. Resolver drive downloaded onto an Encoder drive) - flagged as an Initiasation error. New/changed Keywords ==================== CAPTUREMODEPARAMETER Changed abbreviation from CMP to CPMP. HOMECREEPSPEED/HCS Allows the user to define the actual creep speed used in the Homing profiles. HOMEREFPOS/HRP Defines a reference Home position - used during certain Homing profiles. PULSECOUNTER Returns the count from the Pulse and Direction input. SPEEDMEASURED/SMS Replaces the prototype keyword MOTORSPEEDMEASURED which returns the measured speed as a percentage of DriveSpeedMax. Bug Fixes ========= NCR01371: Uploading the Parameter Table, forces a CPU Reset to ensure parameters are as per their EEPROM value. If a Mint program has an 'Auto' statement, then potentially it could modify values prior to the upload. [Requires WorkBench Build 5026 or later] NCR01410: Profiling of Torque Reference (TRS=2), for ErrorInputMode=3 doesn't use the decel ramp, it crash stops the axis. NCR01455: Literal values and constants can sometimes be inserted into the executable when they are not used in the program. NCR01464: Homing sequence may miss Z-pulse, if moving from the Home position without completing an entire rev. Affects Resolver, but may also affect Encoder. NCR01465: Explicitly declaring the type in a constant declaration can cause problems. NCR01467: The compiler reports an incorrect line number if an error exists in the first 'Case' clause of a 'Select Case' statement. NCR01473: Calling MML routines with square bracket notation can generate incorrect code. NCR01475: Capture of Digital inputs, on some builds, does not work. NCR01483: COMMSMODE and LIFETIME return value may be displayed as a floating-point value when it is an integer value. NCR01476: When the Exit statement is used outside of a loop, the error message issued contains an empty string. NCR01477: Copying a float to an integer does not work. NCR01484: The controller can crash when firmware is downloaded while the variable watch window is open. NCR01485: The use of defines can cause spurious compilation errors. NCR01486: The stop function can cause ICM timeouts in certain circumstances and not stop the program. NCR01487: Literal values can be included in the executable image that are not actually used. NCR01488: The keyword AUXENCODERZLATCHMODE does not accept new values. NCR01494: It is possible to assign one array to another even when they are of different types. NCR01496: If a task is stopped while in a Wait statement and then re-run, the run-time stack can grow causing memory overflows. NCR01497: The line continuation character does not work correctly. NCR01499: Initialising and array with named constants results in incorrect values being used. NCR01501: Using a define before it is declared causes the compiler to crash or stop with an internal error. NCR01504: Occasional data points lost during high speed data capture and small time shifts introduced between capture channels NCR01505: High frequency signals on Z encoder channel or pulse and direction inputs can slow down the DSP, resulting in comms errors and performance degradation. NCR01514: The 'expected' error message sometimes displays an empty string for the expected item. NCR01515: Setting EncoderScale in the range 32768 - 65535 will generate a negative encoder count. NCR01519: If Object Manager has no objects (I.e. no Mint program), then the Memory Usage dialogue displays "Total: 0 bytes" for Flash - the Executable/Source fields are also displayed under the RAM usage section. NCR01520: Capture of cpMEASURED_POSITION channel can give incorrect results for high encoder counts NCR01521: Velocity error is reported incorrectly when the drive is disabled. NCR01522: Capture of cpDEMAND_SPEED is time shifted with respect to cpMEASURED_SPEED by 1 milli-second. NCR01523: Errors that occur in the start-up block go undetected. NCR01524: ADC offset trim gives small (0.5%) error NCR01525: If a Host Comms Protocol message is received with a 'DLE' character, then it will be filtered off by BBP/ICM. NCR01529: Position target not set correctly after a home. NCR01530: Feedback alignment autotuning test can fail when a hall transition angle is close to zero degrees NCR01536: Speed Test moves perfomed from WorkBench Fine-tuning do not report an error if motion is in progress. NCR01537: Displaying the last error string using the Mint ErrStr function can crash the controller. NCR01538: The Run and Run Startup commands do not work reliably from within events. NCR01541: Passing an array of a different type to the parameter causes the compiler to produce strange error messages. NCR01542: Subroutines declared before they are called can have the call parsed incorrrectly if the first token is an intrinsic function. NCR01544: If the field width specified is less than is required for a value in binary format, the output is truncated. NCR01546: The scope override operator (::) does not work, producing compilation errors. NCR01547: Undeclared variables can go undetected. NCR01548: Comments to end of line initiated with a single quote fail if the character after next is another single quote. NCR01550: It is possible to use an array when only a scalar is acceptable. NCR01551: The automatic usage of temporary variables for parameter passing can stop the Select Case statement from working. NCR01552: Strings with non-printing characters cause unterminated string errors, and an unterminated string ahead of EOF crashes the compiler. NCR01553: On printing, strings are terminated by any character greater than ASCII 127. NCR01554: The controller can crash from a host application that downloads a bad file using the doMintFileDownload command. EOF