The services returned by RTE in EXECUTION MODE are as follows:
1.Management of the Power Set (s) for handling handshake signals with the drives/inverters
2.Assignment of the correct time partitions to the 8 time-sharing tasks
3.Self-diagnosis of correct task evolving [see alarm "9113 User Task(t.s.): reduced freq. <Tname>"]
4.Self-diagnosis of correct rule task evolving [see alarms "9104 Task Rule: excessive length" and "9105 Task Rule: reduced frequency" and predefined variables si, rule_lenght]
5.Management of asynchronous rule task execution (task on event). See functions int_inp, int_after, int_timer
6.Management of rule execution
7.Management of the 4 LADDER tasks with assignment of the correct time and priority partitions
8.Self-diagnosis of correct evolution of LADDER tasks [see alarms "9116 R.T. Ladder (pp): too long," "9117 R.T. Ladder (pp): reduced freq.", "9905 LADDER(HP) Rung<rr> code(code)", "9906 LADDER(MP) Rung<rr> code(code)", "9907 LADDER(LP) Rung<rr> code(code)" and "9908 LADDER(Sync) Rung<rr> code(code)"]
9.Management of real kinematic axis parameters. Reading information from the position transducer provides in the variables cp (current position), cv (current velocity), and ca (current acceleration) their current value updated at the frequency with which the rules task is executed
10. Management of the ADV button present on the CPU of Robox devices; pressing it generates an alarm reset command
11. Management of the ADV button present on any connected Robox Dispan/Vispan terminals; its pressing generates an alarm reset command
12. Management of the alphanumeric display (4 lines * 20 characters) and interaction menus present on any connected Robox Dispan/Vispan terminals
13. Management of the FEED+ and FEED- buttons present on the CPU of Robox devices; pressing these buttons results in changing the value of the predefined variable fr (feed rate) within the range 0÷1
14. Management of the FEED+ and FEED- buttons present on any connected Robox Dispan/Vispan terminals; pressing these buttons involves changing the value of the predefined variable fr (feed rate) within the range 0÷1
15. Management of strings arriving on the serial channels not intended for RTE; they are placed in a buffer that can be manipulated by user tasks using dedicated functions
16. Management of communication with the RDE3 development environment[BCC3 protocol].
17. Management of the Ethernet channel with TCP/IP - UDP/IP protocol
18. Communication management Master CAN, Master EtherCAT, Master Sercos 2
19. Communication management with DF1 protocol
20. Management of DP slave PROFIBUS and Device NET communication
21. Management of CNET communication, synchronous communication between multiple controllers
22.Alarms handling 32-position alarm stack and related Alarm mask am
24. Management of WD (watch-dog) led and MODE led on the CPU; WD must always be ON, MODE blinks if in execution mode (user application program is running)
NOTE: You can get information about the control status by using the shell command MODE or the ascii directive D MO.
