(#1)

Compiler

RC <= 7.xx

RC 8.xx

RC 8.xx

RC3 32.xx

RC3E 33.xx

>= RC3E 33.05.1

Compiled extension

EXn

COF

COF

COF

ELF

ELF

(#2)

Loader.bif

no

necessary

necessary

necessary

no

no

(#3)

486 CPU Management

Yes

Yes

no

no

no

no

(#4)

586 CPU Management

no

Yes

Yes

Yes

no

no

(#5)

G2 CPU Management

no

no

no

no

yes

< 34.31.0

(#6)

P2020 CPU Management

no

no

no

no

no

yes

RP-1/AXIOLINE Management

no

no

no

no

no

>= 34.18.11 and < 34.31.0

µRMC family management

no

no

no

no

> rte_PPC_33-5-5

yes

RP2 - RP0 Management

no

no

no

no

no

>= 34.20.3

(#7)

Default serial channel configuration (RRT or RTE)

P.SER1 : ascii

P.SER2 : ascii

P.SER3 : ascii

P.SER4 : ascii

P.SER1 : ascii

P.SER2 : bcc3

P.SER3 : ascii

P.SER4 : ascii

P.SER1 : ascii

P.SER2 : bcc3

P.SER3 : ascii

P.SER4 : ascii

P.SER1 : ascii

P.SER2 : bcc3

P.SER3 : bcc3

P.SER4 : bcc3

P.SER1 : bcc3

P.SER2 : bcc3

P.SER3 : bcc3

P.SER4 : bcc3

P.SER1 : bcc3

P.SER2 : bcc3

P.SER3 : bcc3

P.SER4 : bcc3

(#8)

Default serial channel configuration (OSE)

CPU486 : ascii

CPU586 : ascii

CPU486 : ascii

CPU586 : ascii

CPU486 : ascii

CPU586 : ascii

CPU486 : ascii

CPU586 : ascii

CPU486 : ascii

CPU586 : ascii

CPU G2 : bcc3

MCB : bcc3

RCB : bcc3

CPU486 : ascii

CPU586 : ascii

CPU G2 : bcc3

MCB : bcc3

RCB : bcc3

(#9)

Integrated ethernet channel management

no

no

Yes

Yes

yes

yes

ipaddr.def file

no

no

from 11.12

Yes

yes

yes

(#10)

Optional erthernet channel management on NET.INT board

from 06.08

Yes

Yes

Yes

yes

(#11)

RDE version requested

RDE 2.0

RDE 3.0

RDE 3.0

RDE 3.1.0

RDE 3.3.0

RDE 3.50.3

(#12)

R language (8 axes)

yes

yes

yes

no

no

no

(#13)

R3 language (32 axes)

no

no

no

yes

yes

yes

(#14)

Ladder language

no

no

no

yes

(Live modifications from RDE 3.2.0)

yes

yes

(#15)

RPE library

no

no

no

no

yes

yes

(#16)

Object Block Library

no

no

no

no

From RTE 33.11.6

From RDE 3.5.0

yes

SW license

(license.lic file)

no

no

no

no

yes

yes

No. of tasks (time-sharing) manageable

4

8

8

8

8

8

No. of manageable task ladder

1(TWELL)

1(TWELL)

1(TWELL)

4

4

4

Management of asynchronous tasks

yes

yes

yes

yes

yes

yes

No. of fixed frequency tasks (RULE) that can be enabled simultaneously (OC)

8

8

8

32

32

32

Opc server support

since 06.08

yes

yes

yes

yes

yes

ActiveX support bcc3

no

no

no

yes

yes

yes

RTM support

since 06.08

yes

yes

yes

yes

yes

Managed CAN boards

CAN I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

CAN.I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

CAN.I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

CAN.I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

uRmc (AS1017.x01)

uRmc2 (AS1017.x02)

MCB (AS1016.001)

RCB (AS3031.001/2)

CAN.I/O (AS5034.001)

CAN.INT (AS5034.002)

CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

uRmc (AS1017.x01)

uRmc2 (AS1017.x02)

uRmc3 (AS1017.x03)

MCB (AS1016.001)

RCB (AS3031.001/2/3)

RP-1(As1017.004)

DNES [cod. 0x02]

(Device Net Slave)

SW Device Net Slave:

file manager: DNESvvrr.O86

file loader: PFLMvvnn.O86

Configuration File:

DNSn.CFG (specific x the DNES SW,can only be generated by hand)

Only on:

CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

On CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

On CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

COEM [cod. 0x04]

(CANOPEN-obsolete I/O management)

RRT only

CANOPEN I/O management SW:

file manager: COEMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

COCn.CFG (specific x the COEM SW,can only be generated by hand)

Only on:

on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

On CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

On CAN.INT (AS5034.002) and CAN.I/O (AS5034.001)

CREM [cod. 0x05]

(InterModule Communication)

InterModule Communication SW:

file manager: CREMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

SW InterModule communication on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001):

file manager: CREMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CREMvvrr.UFW

does not need loader

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

SW InterModule communication on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001):

file manager: CREMvvrr.O86 file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CREMvvrr.UFW

does not need loader

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

SW InterModule communication on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001):

file manager: CREMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CREMvvrr.UFW

does not need loader

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

SW InterModule communication on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001):

file manager: CREMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CREMvvrr.UFW

does not need loader

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW for:

uRmc(AS1017.001)

uRmc2(AS1017.002)

MCB PARKER (AS1016.001)

RCB SIEMENS (AS3031.001/2)

Integrated manager in RTE

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

SW InterModule communication on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001):

file manager: CREMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CREMvvrr.UFW

does not need loader

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

Both specific x the CREM SW and can only be generated by hand.

**************************

InterModule Communication SW for:

uRmc(AS1017.001)

uRmc2(AS1017.002)

RP-1(As1017.004)

MCB PARKER (AS1016.001)

RCB SIEMENS (AS3031.001/2)

Integrated manager in RTE

Configuration File:

RBXCNET.CFG (network structs definition file) + RBXCNET.Wsn (control ws number definition).

CODM [cod. 0x06]

(DSP 402/401 DRIVE+I/O CANOPEN management)

(equivalent to string "CanOpen402" in rhw.cfg file in case of PARKER board (AS1016.001) uRMC (AS1017.001))

SW management (DSP401/402) DRIVE+I/O CANOPEN:

file manager:CODMvvrr.O86

FILE LOADER: PFLMvvnn.O86

Configuration file:

COCn.CFG (specific x the CODM SW, generatable from RDE3 configurator file.COC)

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001): :

file manager:CODMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

COCn.CFG (specific x the CODM SW, generatable from RDE3 configurator file.COC)

************************

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CODMvvrr.UFW

does not need loader

Configuration file:

COCn.CFG (specific x CODM SW, can be generated from RDE3 configurator file.COC)

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT (AS5034.002) and CAN.I/O (AS5034.001): :

file manager:CODMvvrr.O86

file loader: PFLMvvnn.O86

Configuration file:

COCn.CFG (specific x the CODM SW, generatable from RDE3 configurator file.COC)

************************

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CODMvvrr.UFW

does not need loader

Configuration file:

COCn.CFG (specific x CODM SW, can be generated from RDE3 configurator file.COC)

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CODMvvrr.UFW

does not need loader

Configuration file: COCn.CFG (specific x CODM SW, generatable from RDE3 configurator file.COC)-

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CODMvvrr.UFW

does not need loader

Configuration File:

COCn.CFG (specific x the CODM SW, generatable from RDE3 configurator file.COC)

**************************

SW management (DSP401/402) DRIVE+I/O CANOPEN for:

uRmc(AS1017.001)

uRmc2(AS1017.002)

MCB PARKER (AS1016.001)

RCB SIEMENS (AS3031.001/2)

Integrated manager in RTE

SW management (DSP401/402) DRIVE+I/O CANOPEN on CAN.INT.2ch (AS5034.004, AS5034.104, AS5034.304)

CAN.INT.1ch (AS5034.005, AS5034.302)

FILE MANAGER: CODMvvrr.UFW

does not need loader

Configuration file:

COCn.CFG (specific x the CODM SW, generatable from RDE3 configurator file.COC)

**************************

SW management (DSP401/402) DRIVE+I/O CANOPEN for:

uRmc(AS1017.001)

uRmc2(AS1017.002)

RP-1(As1017.004)

MCB PARKER (AS1016.001)

RCB SIEMENS (AS3031.001/2)

Integrated manager in RTE

(#1)

The R/R3 compiler allows compilation of source files written in R/R3 languages.

RC3E compilers of the 33.3.x and 33.4.x series can only be used by RDE version 3.6.0 (and later) and not as stand-alone.

Instead, the RC3E compiler of the 33.5.x series can be used as stand-alone,since the GCC base compiler no longer depends on external libraries

(#2)

The loader.bif file, if needed, must be present on the flashcard in the system partition F@

(#3)

CPU 486 is present in the following devices:

•AS5023.003 CPU 486 for RBXM with P debug SUBD

•AS5023.004 CPU 486 for RBXM 4 axes and 4 serials

•AS5023.005 486 CPU for RBXM 4 axes and 4 serials

•AS1012.0xx RBXE

•AS1013.0xx RBXC

(#4)

CPU 586 is present on the following devices:

•AS5023.011 CPU 586 for RBXM

•AS5023.012 CPU 586 HP for RBXM

•AS5023.021 CPU 586 ETH for RBXM

•AS5023.022 CPU 586 ETH HP for RBXM

•AS1012.1xx RBXE Family

•AS1013.1xx RBXC Family

•AS1015.0xx RMC Family

(#5)

G2 CPU is present on the following devices:

•AS5023.031 G2 CPU for RBXM

•AS1015.1xx RMC Family

•AS1017.001 µRmc

•AS1017.002 µRmc2

•AS1017.101 Unique

•AS1017.102 Unique2

•AS1017.004 RP-1

•AS1016.001 MCB (motion control board for PARKER)

•AS3031.001/2 RCB (Robox can board for SIEMENS)

(#6)

The P2020 CPU is present on the following devices:

•AS1017.003 uRmc3

•AS1017.103 Unico3

•AS5023.041 P2020 CPU for RBXM

(#7)

Indication of how the RRT/RTE operating system configures serial channels at switch on

(#8)

Indication of how the basic operating system OSE (Operative System Eprom) configures the serial channels at switch on. The system is in this configuration when there is no RRT/RTE operating system on the flashcard.

(#9)

The Ethernet channel is integrated in the following devices:

•AS5023.021 CPU 586 ETH for RBXM

•AS5023.022 CPU 586 ETH HP for RBXM

•AS5023.031 G2 CPU for RBXM

•AS5023.041 P2020 CPU for RBXM

•AS1012.1xx RBXE Family

•AS1013.1xx RBXC Family

•AS1015.0xx RMC Family

•AS1017.001 µRMC

•AS1017.002 µRmc2

•AS1017.003 µRmc3

•AS1017.004 RP-1

•AS1017.101 Unique

•AS1017.102 Unique2

•AS1017.103 Unique3

•AS1016.001 MCB (Motion control board for PARKER)

•AS1016.002 MCB (Motion control board for PARKER)

•AS3031.001/2/3 RCB (Robox can board for SIEMENS)

(#10)

The NET.INT board (AS5038.001) is to be inserted into the rack of the modular RBXM family. Since the CPUs already have an ETH port it is used only if you need to manage multiple Ethernet channels. Remember that the RRT/RTE operating system supports a maximum of 4.

N.B. In case more than one Ethernet port is configured, IP-level routing is not performed

(#11)

RDE (Robox Development Environment) is the development environment for ROBOX control systems. The services it makes available to the user are collected in the user.lic file, which must be in the base installation directory (e.g., C:\Robox\Rde x.x.x\) or in the LIC folder (C:\Robox\lic)

(#12)

The R language is a structured-text language

(#13)

The R3 language is the evolution of the R language. R3 is supported by RTE while R is supported by RRT

(#14)

Ladder language follows the IEC1131 standard and can be used to describe the plc logic of the controlled machine

(#15)

RPE library is a library for managing one or more axes groups (ex: Robot)

(#16)

The OB library allows the programmer to take advantage of Library Objects provided by Robox. It is possible to make your own OBs (device/function libraries) but CF(license.lic) enablement is returned.

(#17)

Up to version 07.02 it is mandatory that the switch configuration on the board always coincides with the one given in the RHW.CFG file, otherwise at switch on the software will not load correctly.

From version 07.03 the configuration of the switches is read only during autoconfiguration, then it will no longer be taken into account by the manager, the one contained in the RHW.CFG file will always be the authentic one

(#18)

The configuration of the switches is read only during autoconfiguration, then it will no longer be considered by the manager, the one contained in the RHW.CFG file will always be authentic.

In case there is only one board in the system and only one CAN management software on the flashcard, this software is always loaded on the board, regardless of the code in the RHW.CFG file.

In case of the presence of more than one board in the system or more than one CAN management software on the flashcard, the software corresponding to the board code given in the RHW.CFG file is loaded on each board.

In case of CODM software (drive manager + CANopen I/O), the direct association of the variables present in the PDOs to the kinematic units of the various axes cannot be used from configuration files, but must be handled by the application software by means of the instructions

•CO_RPDO in the rule_prologue for units received from CAN stations

•CO_WPDO in the rule_epilogue for the units sent to the CAN stations.

(#19)

The configuration of the switches is read only during autoconfiguration, then it will no longer be considered by the manager, the one contained in the RHW.CFG file will always be the authentic one.

In case there is only one board in the system and only one CAN management software on the flashcard, this software is always loaded on the board, regardless of the code in the RHW.CFG file.

In case of the presence of more than one board in the system or more than one CAN management software on the flashcard, the software corresponding to the board code given in the RHW.CFG file is loaded on each board.