MintMT Build 5112
=================

Build Platforms: SC-610
=======================

SC-610 /Hiperface
SC-610 /IO /Hiperface
SC-610
SC-610 /IO

Release Date
============

14th February 2003

Release Level
=============

General


Backward Compatibility Issues
=============================

Requires 'B' revision drives.
Requires Mint compiler target format 9.
Parameter Table version 15: 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 earlier than Build 5107 will not reflect this change in the Spy window.

New features and changes are not be reflected in the MintMT Help file (version 2002-04, supplied with WorkBench Build 5107) or earlier.
	- check SupportMe for latest updates.

Download Instructions
=====================
Consult the Help file or 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 'No Controller found. Communication fault on COM#'
7.	Click on 'Update Firmware'
8.	Click on 'Download from File' - alternatively, you could open a previously installed System File.
9.	Select the file corresponding to your controller and click 'Open' to start the download sequence.
10.	Turn on the controller: the download sequence will begin.


Mint Virtual Machine
====================
Version 6

New Features/Changes
====================
New keyword SCALEFACTOR introduced to be equivalent to the SCALE keyword.
SCALE can continue to be used but will generate a Mint compiler warning suggesting the use of SCALEFACTOR instead.
CAPTUREAXIS will generate a compiler warning suggesting the use of CAPTUREMODEPARAMETER instead.
The Error Log will now store the additional errors/events (requires WorkBench Build 5107+):
	Autotune tests run
	Autotune test errors
	Parameter Table download
Added Mint constant _evSTOP_SW_EVENT (corrected from _evSTOP_SW__EVENT).
All Mint constants have been captitalised (excluding the prefix characters).
	- this does not affect existing Mint programs. WorkBench will automatically use the capitalisation.
FASTAUXLATCHEDGE changed to force a minimum of 1 dot parameter.
The gain term KVELFF now affects master-slave move types (e.g. FOLLOW, FLY, etc).
	- to maintain previous settings, or to overcome amplified jitter from noise on the master input, KVELLFF can be set to zero.
DRIVEBUSUNDERVOLTS can now be set to zero (drive restrictions apply - see Help) - this will have the affect of not generating an undervolts trip.
New keyword SRAMP - Velocity profile smoothing for MOVEA/MOVER move-types.

Bug Fixes
=========
NCR01502:	On Fine-tuning Position Tab, if enter Position Trapezoidal move of -2000, then at end of move Position is set to +2000 and a FE generated.
NCR01560:	Variable download does not work correctly for string data that requires transmitting using multiple packets.
NCR01571:	If you have previously done a Follow, and then start a new Follow, occasionally the profiler may generate a 'blip' at the last follow ratio before going to the command follow ratio.
NCR01572:	FollowMode=1, does not generate a ramped profile.
NCR01575:	On the Fine-tuning page the position trapezoid test move will fail if the drive is not enabled - it should enable automatically.
NCR01577:	If after performing a Fine-tuning trapezoidal position move (without storing parameters on the controller), then if the drive is left enabled you cannot load another move.
NCR01580:	Capture will show an incorrect setting of AxisMode when the drive is disabled.
NCR01590:	If a parameter write fails because the I2C Queue is full, a MiscError is generated, which will attempt to add it to the error log - this causes a CPU watchdog.
NCR01594:	HOME can be set to search for Home Input, even if no input is defined.
NCR01603:	As a consequence of NCR01522, a change in Velocity (from zero) will have an incorrect value of half of what it should be. This affects all move types and Fieldbus Process data.
NCR01604:	If the drive is disabled whilst Homing, or Cancel, issued HomePhase will remain at its last setting, until Homing is restarted. Subsequent Home to index, may terminate straight away.
NCR01607:	Captured Demand Position returns data that is 0.5smecs old (I.e. not as generated by the profiler). No demand position would be captured on a virtual axis (Config=5). This is probably the small time shifts reported under NCR01504.
NCR01608:	Using ResetInput to attempt to clear errors and re-enable the drive when the drive enable input is inactive, will cause the drive to 'blip' into the enabled state.
NCR01609:	Parameter Table upload/download affects the ControlMode settings from AutoStartMode.
NCR01616:	Gearing Compensation is accummulating the demand position and extrapolating the demand velocity.
NCR01621:	Print #_TERM1 "Hello" displays several 'square' characters when used on the command line.
NCR01625:	Gearing compensation does not work for low master speeds (< 1004 cnts/sec).
NCR01630:	There is a typo in a constant definition: "_hmNEGATIVE_SWITCH_INDEX" is defined as "_hmNEGATIVE_SWICTH_INDEX"
NCR01632:	There is a typo in a constant definition: "_noAUXENCODERS" is defined as "_noAUCENCODERS"
NCR01633:	Some of the Mint constants defined for High speed capture are incorrect.
NCR01634:	In FollowMode=1, applying an offset when following a negative masters' velocity does not work.
NCR01635:	It is possible to set FollowMode to unsupported modes 2 and 3.  No profile is generated under these settings.
NCR01636:	The polarity of FastAuxLatchEdge is inverted - setting to zero (rising edge) actually detects on the falling edge and visa versa.
NCR01645:	Downloading a Parameter Table, version 13 or earlier, will set USERPARAMETER.0 to zero.
NCR01653:	If a Mint program is first executed (run command) containing an event which is active (e.g. OnError event and there is a motion error (AxisError <> 0) present), then it is possible that the processor will reset (InitError = 0x4000, CPU Watchdog).
NCR01654:	Stack underflows can occur when the 'Run' command is used inside the error event handler.
NCR01655:	The Host Comms Protocol, does not evaluate fractional values correctly, resulting in an incorrect value.
NCR01657:	The stack underflow error can result in a follow on error when this should not be possible as it is a fatal error.

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