MintMT Build 5127 ================= Mint System File Contents: ========================== ReadMe text file - this file Mint Compiler DLL - MintMT Compiler v10.1 Firmware file (.chx) for the relevant platform Note: Installing the Mint System File will install and register Mint Compiler v10.0 with WorkBench. If you have a higher v10.x compiler previously installed/registered, you will need to re-register the later version. Previous compiler target formats (e.g v9.x and v8.x) are unaffected. Build Platforms: ================ SC-610 /Hiperface SC-610 /IO /Hiperface SC-610 /Encoder-resolver SC-610 /IO /Encoder-resolver Release Date ============ 4th September 2003 Release Level ============= General. Backward Compatibility Issues ============================= Requires 'B' revision drives - drives with Bootloader version 1.2 and above (refer to SupportMe script in Workbench). Requires Mint compiler target format 10 - installed with this Mint System File. Parameter Table version 16: 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 5114) 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. To install a Mint System File (.msx) direct from SupportMe: 1. If you have not already done so, from WorkBench select 'Help -> On the Web -> Firmware Updates' 2. Navigate to the required platform(s) 3. Locate the required build option, view the ReadMe file (this file) if required, then click on 'Install' to install the components of the Mint System File into WorkBench To install a Mint Sytstem File (.msx) from disk/CD:- 1. From WorkBench, select 'Tools -> Install System File...' 2. From the dialogue, locate the Mint System File (.msx) to be installed and click 'Open' to install it. 3. WorkBench will install the components of the Mint System File. To download firmware to the controller:- 1. From WorkBench, select 'Tools -> Download Firmware...' 2. In the 'Controller Type' drop-down, select the platform type that you are connected to. 3. Select the Build number required that matches the Build option for your controller. 4. You can view the Readme file (this file) if desired. 5. Click on the 'Download to Controller' button to download firmware to the controller. 6. The firmware download sequence should begin (and will take a couple of minutes). You may be prompted to power-cycle the controller - ensure you are connected via the correct COM port and turn on power (logic supply) to the controller. Mint Virtual Machine ==================== Version 10 New Features/Changes ==================== Critical..End Critical construct allows enclosed Mint statements to be processed atomically (i.e. prevents multi-tasking and Mint events from interrupting the processing of the enclosed statements). Support for WorkBench 'Tasks' tab - allowing monitoring and control of MintMT tasks from WorkBench (Requires WorkBench Build 5200+). Hardware enable detected on a 1msec sample instead of previous 100msec sampling. COMMS array elements can now be captured (see CAPTUREMODE). Performance increase to Mint. Bug Fixes (from Build 5112) =========================== NCR01403: On High Speed ADC command input, StopInputMode=1 does not work correctly. NCR01641: Changing LOOPTIME causes the drive to lock up, requiring a power-cycle to recover communications. NCR01668: Downloading a Parameter Table earlier than version 14 will set DriveBusUndervolts to be zero (should be set to the powerbase default). NCR01669: If logic power is lost midway through logging an error, on the restore at the next power-up, the repair of the invalid copy is rewritten incorrectly. This is reported as bit 7 in InitError (Error Log invalid), which is reported by WorkBench as "Powerbase Id doesn't match hardware". NCR01680: Setting FOLLOWDENOM to 128 will be stored/processed as -128. NCR01682: AutoStartMode is not actioned if there are any Initialisation errors or warnings. NCR01689: The STOP command used with s-ramped profiles does not work. NCR01690: With DriveEnableMode = 2 (hardware enable), it is possible (~ 3 in 1000) that when the enable switch goes high the drive isn't enabled (AxisError bit 13 is set if DriveEnableInputMode = 1). NCR01691: Autotune does not range check the test number/operation requested against the correct valid range. NCR01692: Autotuning will return a 'motion in progress' MIL error (#10) if the drive is enabled, instead of a 'drive enabled' error (#90). NCR01694: DriveError=0 does not cancel a drive error. NCR01698: The ReadKey() function returns the error "Terminal not defined" when it shouldn't. NCR01701: Stack underlow errors can result when suspending and resuming a task when events are being processed. NCR01704: MISCERRORDISABLE will prevent the OnError routine being called if the bits are cleared - it should be if the bits are set. NCR01709: With a large MoveBufferSize (e.g. 99), using GO with a number of loaded moves can cause a "C167 Watchdog Timeout" error (DriveError bit 1) to be generated. NCR01710: Terminal functions do not cause any errors to be generated, even if one has occurred. NCR01733: PosAchieved does not work correctly if a move is stopped. NCR01735: The EInt and DInt commands do not stop events from being handled. NCR01737: If too many parameters are written in quick sucession (e.g. by Workbench Comm Wizard or Preset page) then some parameters may fail to be written to the Parameter Table. NCR01742: Issuing a new IncA move, where the new target position is within the deceleration distance, the profile modifies the decel rate to achieve the target rather than decelerating at defined rate and then reversing to the target. NCR01743: Creating an incremental move that requires the profile to change direction, can cause the deceleration profile (when changing direction) to be modified according to the effective remaining distance. NCR01745: The Stop event is not called for SIM=1, when in speed control or torque control. NCR01754: Changing CONFIG does not validate the current setting of CONTROLMODE e.g. If CMD=2, and then set CF=_cfTORQUE_SERVO, CMD is left in the velocity setting (CMD=2), which is invalid in this CONFIG. NCR01760: For Absolute encoders, EncoderLinesOut is not defaulted to be the same as EncoderLinesIn, as read from the Feedback device. NCR01764: On point-to-point moves (e.g. MoveA/MoveR), a profile reaching a slew speed > 253906 counts/sec, may generate a velocity deceleration that is truncated at the end (I.e. target position is reached before it has ramped to zero speed). NCR01775: Multiple MML calls can display multiple error messages for a single call. NCR01777: Under Config = _cfTorque_Servo, AutoStartMode can only be set to mode 0 (normal). Should be able to set to all modes, except 2 (speed reference). NCR01778: Mint program data can be corrupted during a task switch. NCR01782: The MoveA/MoveR commands do not report error #40 (drive not enabled) if a move is loaded when the drive is disabled. NCR01786: With ENCODERWRAP, and having modified (written) the ENCODER value, it is possible at the extreme of the number ranges for the ENCODER value to go wrong. NCR01797: The Asc function can crash the controller if the parameter is an empty string. NCR01802: Spurious line numbers can be returned on an error. EOF