MintMT Build 5320 ================= Mint System File Contents: ========================== ReadMe text file - this file Mint Compiler DLL - MintMT Compiler v10.6 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 ============ 5th April 2005 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 22: 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 5233). New features and changes may not be reflected in the MintMT Help file (version 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 18 New Features/Changes ==================== FEEDBACKFAULTENABLE can now be set to allow detection of Feedback faults when the drive is disabled. The default value of FEEDBACKFAULTENABLE is now 3 (for all feedback variants). The default value of LIMITMODE is now 8 (Crash stop without error and leave the drive enabled). The default value of MOTORENCODERLINES (for Encoder Feedback systems) is now 2000. CAPTURENUMPOINTS / CAPTUREPOINT - allows MintMT applications to access the capture data array. Follow move-types will remain in Follow mode when reacting to hardware limit switches under LIMITMODE=8. Support for Dual-Encoder Feedback on Encoder and Resolver drive variants (see AXISPOSENCODER keyword). Support for Motor Brake control (see MOTORBRAKExxx keywords). Support for MintMT string access functions - PRODUCTSERIALNUMBER, MOTORCATALOGNUMBER and MOTORSPECNUMBER. Support for the MOVEDWELL move-type. Support for MOVEBUFFERID and MOVEBUFFERIDLAST - allows moves to be tagged with an identifier. Support for MOVEBUFFERSTATUS - returns status information about the move buffer. Support for POSROLLOVER - counts the number of times the position has wrapped. Support for Feedrate - controls the interaction of Slew speed and acceleration rates loaded into the move buffer (see FEEDRATExxx keywords). Support for FASTAUXLATCHDISTANCE - defines a window in which further Fast input latches will be ignored. Support for CAMBox. COMMSMODE modified to allow supression of trailing zeroes on HCP and the ability to disable HCP. HCP master node restriction of being NODE=1 lifted (i.e. any Node can now be a master). Additional channels for captured data (scope). Configurable I/O can now also be allocated to extended I/O bank. Added mode 5 to PHASESEARCHTRAVEL to allow no travel. PLC Task can reference Digital Inputs on all I/O Banks. Integer data now formatted to 4 decimal places in HCP packets (unless Trailing Zeroes suppressed), to be consistent with floating-point data. Execution speed improvement to MintMT. Bug Fixes (from Build 5218) =========================== NCR01935: Using AUXENCODERSCALE and SCALEFACTOR, with a Follow, will lose counts (drift) when the master axis runs at slow speeds. NCR01969: If an incremental move is terminated pre-maturely (e.g. by a STOP command), then a subsequent INCR command will work from the original POSTARGET rather than the current POSDEMAND/POS. INCA moves are not affected. NCR01976: Using PLC Task to enable drive overrides the DriveEnableInput (i.e. drive can be enabled even without enable input). NCR01994: If Homing (for Z-pulse) is stopped, then the axis moved through the Z-pulse and Homing re-started (e.g. HOME=4 or HOME=6), then Homing will be profiled in the wrong direction. NCR02002: Offsets were no longer profiled. NCR02009: Feedback alignment autotuning test gives incorrect results for the encoder + Halls feedback option (MOTORFEEDBACKTYPE = 1 or 3). Other feedback options are unaffected NCR02015: Using EncoderWrap, the value returned through FASTENCODER will not count consequetively when the actual encoder count wraps around the full number range. NCR02022: Data capture (scope) of AuxEncoder position captures signed values as unsigned. NCR02023: SERIALBAUD can be set to values outside the valid range. NCR02028: Starting an Offset when AuxEncoder velocity is at or close to zero, can start in the wrong direction. NCR02030: Using TorqueRefSource=1 (I.e. High Speed ADC) and LimitMode = 8 (Crash Stop, No Error) does not react to the Limit switches. NCR02034: Software Limits, using SoftlimitMode 7, 8 and 9 do not work. NCR02045: The STOP command will crash stop of Home profile. NCR02075: Values of AuxEncoderScale above 32767 are being set to zero. NCR02076: Upper range of MoveDwell should be 65535 not 65534. MVM Bug Fixes ============= None. EOF