Date: March 31, 2006

Os: 12.14.0000

RoboxLib: 1.04.0000

Derived from: RRT 32.1.11

Note: needs LOADER.BIF

Note: suite with >= RDE3.1.3

Note: suite with >= RC3 v32.0.14

Note: suite with >= CODM0602.UFW

build1

•CORRECTION

Made read-only parameters cannot be written using ascii directive

•IMPLEMENTATION

Parameters NUM_R, NUM_RR, NUM_SR, NUM_NVR, NUM_NVRR, NUM_NVSR

•IMPLEMENTATION

Alarms handling lost PLL from channel can- alarm communication code 3

•IMPLEMENTATION

Added -REPn to ADD command of power_set

•IMPLEMENTATION

Directives for PowerSet PS_LIST PS_INFO PS_STATUS

•CORRECTION

Fixed problem when enabling/disabling/re-enabling a drive

•CORRECTION

Made "same data" diagnostics not be given when S_REF , T_REF or POS_REF is set to OFF

•IMPLEMENTATION

New command in power set DIAGNO_REG idxR.

description : definition of an array of R destined to store salient data for power management.

syntax : DIAGNO_REG idxR

idxR : beginning index of the array of R

description : R(idxR+0) = power going enable from alarms (0 --> not enable)

R(idxR+1) = group forward power enable (from instruction ) (0 --> not enable)

R(idxR+2) = Request for going to power

R(idxR+3) = Series Global Power Feedback (0--> no feedback)

R(idxR+4) = mask of individual components of Global Power Feedback

R(idxR+4).0 --> first definition of GLOBAL_POWER_FEEDBACK in the RTE.CFG file

R(idxR+4).1 --> second definition of GLOBAL_POWER_FEEDBACK in the RTE.CFG file

R(idxR+4).2 --> ......

R(idxR+5) = feedback mask of individual CAN channels (if any) Axes are represented as logical axes (LAM)

R(idxR+6) = GLOBAL_POWER status (0 --> no_power)

build0

•IMPLEMENTATION

NEG and NOUT ladder function

•IMPLEMENTATION

Starting in RTE with ADV pressed displays the operation counter of the main

•CORRECTION

MV_TO movement in case of target inversion and lowering of vmax below current speed

•CORRECTION

Avoided associating a slot interrupt task if interrupt handling already in use by OS