MintMT Build 5218 ================= Mint System File Contents: ========================== ReadMe text file - this file Mint Compiler DLL - MintMT Compiler v10.2 Firmware file (.chx) for the relevant platform Note: Installing the Mint System File will install and register the Mint Compiler with WorkBench. Unless you are using Mint WorkBench (Build 5204 or higher), if you have a higher v10.x compiler previously installed/registered, you will need to re-register the later version as older versions of WorkBench will register the version of the compiler being installed. 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 SC-610 /EnDat SC-610 /IO /EnDat Release Date ============ 19th April 2004 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 18: Upgrading from Parameter table version 8+ (Build 5015+) will be done automatically. Parameter Tables (version 8-13 from Build 50xx firmware) 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 5218). Hold Dip switch on SW1-5 - WorkBench Build 5102 and earlier will not identify this correctly in the Spy window. WorkBench Build 5102 and earlier will not show all Error Log types. The OFFSET command must now be triggered by GO (or according to TRIGGERMODE). New features and changes may not be reflected in the MintMT Help file (version HDAG-2004-01, supplied with WorkBench Build 5218) 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 15 New Features/Changes ==================== Support for Host Comms Protocol #2 (HCP2) allowing indexing of Nodes above Node 15 and to index Comms elements 100-255. Support for Controller to Controller extended Comms access over RS485 (using HCP). Support for RS485 Baud rates of 38400 and 57600. Support for Node Id indication on the Seven-segment display using the LED command. Support for capture channels _cpIDLE and _cpAXIS_ERROR. Support for Trigger on position: TriggerMode, TriggerSource, TriggerInput, TriggerChannel, TriggerValue. - the OFFSET command must now be triggered by GO (or according to TRIGGERMODE). Support for MoveOut and MoveOutX. Support for PulseOutX and MovePulseOutX. Support for IdleMode, IdleTime and IdleSettlingTime. Support for ADCMODE (turning off an unused ADC channel will provide some execution speed improvement to MintMT). Support for unassignment of FASTSELECT and FASTAUXSELECT (unassigning will provide some execution speed improvement to MintMT). Support for DriveEnableOutput being assigned to the Relay output. Support for position compare: COMPAREPOS, COMPAREOUTPUT, COMPAREMODE (bit 0: Enable(=0)/disable(=1) compare), COMPARELATCH (bit 0: indicates that compare is active) DriveOkOutput is now also driven according to the state of the pre-charge circuits on 3-phase drives, the DC Bus voltage, initialisation errors and Drive Enable DIP switch. GlobalErrorOutput is now also driven according to any Initialisation errors. Reaction times to dedicated axis input functions (e.g. StopInput, ErrorInput, etc) improved. Execution speed improvements made to MintMT. Bug Fixes (from Build 5127) =========================== NCR01466: Setting INCA=-8388608, when POS=0, when GO is used to trigger the move we immediately trip out on Following Error. NCR01761: AxisWarningDisable cannot set bit 2 (_awMAX_SPEED). NCR01762: SoftLimitReverse has an incorrect default value. NCR01763: The WorkBench Monitor tab is unable to select Demand Acceleration as a monitor channel (and therefore to set-up the capture channel). NCR01765: In Config=_cfVIRTUAL, there are no measured quantities, meaning when a move is completed, the Demand Position is reset to the measured position, which is zero. NCR01823: During preset moves, if a stop input has occurred and a new relative move triggered the new target position will be added to the old target position instead of the current demand position where we stopped. NCR01824: Misc Error bitmap strings are reported (in WorkBench Error Log) out of sequence by 1 bit. NCR01826: A COMMS over RS485, e.g. myVar = COMMS(node,element), if the element requested is 0 or 256 it will not be detected as out of range, but should get a NAK back from the recipient. Out of range elements are also reported incorrectly as Node Id out of range. NCR01827: Access to a COMMS element, using HCP1, will return an ACK even if the element is reserved or the value written is invalid. NCR01843: A MoveA command will always take the shortest route to the new target position. E.g. If PosDemand=-8308607 and MoveA=8308607 requested, it will be accepted, but the profiler will count negatively through the wrap boundary. NCR01849: Using SRAMP, with high encoder velocities (counts/sec) and a large SRAMP value, the generated demand velocity profile can have severe spikes. E.g. with SPEED >= 330000counts/sec and SRAMP=100%. NCR01856: On an RS485 network, changing the Node Id from 1 to >15, via the NODE keyword or WorkBench options dialogue, will leave that Nodes' Terminal I/O enabled. NCR01857: ACTIVERS485NODE does not range check the Node Id passed, and will respond to negative numbers. NCR01859: The master of a RS485 network using the Host Comms Protocol is not enforced to be Node 1. NCR01863: Reading IN or INX, can clear the latch for edge-triggered inputs, that occur whilst the keyword is executed. NCR01872: With large Decel rates (> 255996093 counts/sec/sec) it is possible that the point to start decelerating will be calculated incorrectly resulting in an incorrect deceleration rate being profiled. NCR01873: With high slew speeds and decel rates, when the profile enters the deceleration distance the DECEL is used above a certain speed, and a calculated decel rate used below that. Because of loss of precision, the DecelTime may be extended from that expected. NCR01874: Setting Encoder may cause incorrect values around the new zero point. NCR01875: It is not possible to set AccelTime or DecelTime to the maximum permissible value of 3328000counts/sec/sec. NCR01887: The drive may auto-enable the drive before it has had chance to supress it for Init Errors/Warnings (e.g. issuing FactoryDefaults in Comm Wizard, will end up enabling the drive causing problems later on). NCR01891: Certain trapezoidal profiles (e.g. SP=800000; AC=15000000; DCL=15000000; MA=500000) will generate a deceleration profile where the velocity levels out as a deceleration of zero is calculated. NCR01896: FASTAUXLATCHEDGE can be set to values other than 0 and 1, and define a falling edge for any non-zero value. NCR01900: BRIDGECOMPENABLE, will accept values other than 0 and 1 to control whether bridge compensation is turned off or on, with non-zero values turning it on. NCR01904: Using EncoderWrap, the encoder value returned will not count consecutively when the actual encoder count wraps around the full number range. NCR01906: ENCODER can be set outside the ENCODERWRAP range. This would be corrected in the next tick, but if read back would be incorrect. NCR01936: AUXENCODER returns fractional encoder counts, when using a virtual Auxiliary Encoder. NCR01949: Autotuning feedback alignment test can fail where the initial feedback misalignment is very close to 180 degrees NCR01979: The value of KVEL used in the Control Law does not match the value set (a number wrap occurs in the scaling giving a non-uniform result). MVM Bug Fixes (from version 10) =============================== NCR01858: Mint programs can fail with stack underflows, out of memory, or can just behave strangely. NCR01877: Events can corrupt string data resident on the stack as a result of a `ref.s instruction. NCR01914: A recursive subroutine or function can cause the controller to crash. NCR01915: A subroutine or function that calls itself from with a critical section can cause the controller to crash. NCR01916: The value for Time does not propagate into events when set from the parent task. NCR01950: Events that call a subroutine and then issue a Run command cause the stack to underflow. NCR01952: If a Mint program is compiled and downloaded (i.e. not run), the task status window displays random values. NCR01959: The Pause and Wait commands inside critical sections can cause execution to halt indefinitely. EOF