Date: November 16, 2006

Os: 12.18.0000

RoboxLib: 1.04.0000

Derived from: RRT 32.4.0

Note: needs LOADER.BIF

Note: suite with >= RDE3.3.0

Note: suite with >= RC3 v32.0.16

Note: suite with >= CODM0602.UFW

build6

•CORRECTION(os)

Error code 22 during Can configuration with CAN402 protocol. Alarm that could occur while sending configuration sdo (with can board with 186)

•CHANGE(os)

Ethernet communication

Avoided getting disturbed by multicast mode frames (video stream, audio stream, etc...) with the danger of going into R manager timing alarm (rule too slow, task too slow, etc...).

•EDIT(os)

Immediate TX485 shutdown at the end of transmission. Serves for RS485 communications with devices that respond almost immediately after a request from the master.

•CORRECTION

On interpolated movements the initialization steps were being executed several times unnecessarily ()

•IMPLEMENTATION

Added SYS_FLAG.4 bit management to enable in the alarm

9900 Illegal Arg. A:aaa T:tt St:sss

instead of the argument number 'aaa' a number related to the routine that generated the alarm.

build5

•CORRECTION

In the ladder, the AM(n) keyword did not work if used in comparison and/or math blocks

•IMPLEMENTATION

Power_set

Added -E parameter on GLOBAL_POWER_FEEDBACK to enable feeback handling on front. Default is on level

Note in case you select the front and give power request with feedback already present the power enable command is not generated!!!

•VARIANT

Power_set

The fault state of the can is now assumed to be no feedback from drive, regardless of the state of bit 0 and bit 1

•VARIANT

Power_set

Enable management is enabled only after global power feedback arrives

build4

•CORRECTION

Made netint run again

build3

•IMPLEMENTATION

Power drop delay management in case of no feedback

Added keyword in definition of POWER_SET : POWER_OFF_DELAY_ON_NO_FEEDBACK sec.

Added info on PS_INFO and PS_STATUS directives.

Added bit 0x80 on PS_STATUS instruction --> count in progress

Added bit 0x100 on instruction PS_STATUS --> actual status of feeback

Changed sense to bit 0x10 on instruction PS_STATUS --> delayed state (possibly) of feeback

•IMPLEMENTATION

Alarms handling power drop delay in case of major alarms causing power drop

Added keyword in definition of POWER_SET : POWER_OFF_DELAY_ON_ALARM sec.

Added info on PS_INFO and PS_STATUS directives.

Added bit 0x40 on PS_STATUS instruction --> count in progress

•CORRECTION

Power was not being generated if all global power feedback was already present at the time of the power request

•IMPLEMENTATION

Alarms handling of axis alarm for global feedback drop

Added the following keywords to the definition of GLOBAL_POWER_FEEDBACK :

-AALn axis alarm number when opening Gloabal Feedback (relative to axis).

n can be -2 -1 0 or default user alarm number (0)

-AP1n first parameter for user alarm

-AP2n second parameter for user alarm

-AP3n third parameter for user alarm

-AXn logical axis number associated with the definition. In case of GLOBAL_POWER_FEEDBACK CAN definition the axis definition is implicit and is valid for all axes managed via CAN

•VARIANT

Output condition on predefined alarms what condition caused the feedback chain to open (FALSE feeback mask)

•IMPLEMENTATION

Management by power_set array, limitation is that on rte cfg they must be defined as:

name[idx] with no spaces between name and index and no spaces within the index, which must be a decimal number.

similar argument applies to the directives

•CORRECTION

mv_to_n_v in certain movements generated NANs

build2

•CORRECTION

Did not execute last axis on speedref, torque ref, and position ref

•CORRECTION

PowerSet-enabled major fault alarm on channel fault

•VARIANT

Added retentive parameter SEM_USER pi[61]

bit 0 enables use of user enable

Added non-retentive parameter SEM_STS pi[62]

bit 0 enable data validation in tx

build1

•VARIANT

Changed diagnostic of when trying to run and there is no task 1

used to be "Illegal status" now "Not existing File"

•IMPLEMENTATION

Enabled the use and definition of u0 on all transducer types even OFF

•IMPLEMENTATION

Added PI integer parameter 60 u0 - status of zero micros associated with transducers

•IMPLEMENTATION

Added bit 0x20 on status of power_set :

Indicates if the last power drop is due to lack of global feedback

Status is reset to zero the moment there is a new power request

•CORRECTION

Re-enabled Ascii directives for force and release I/O

•CORRECTION

Fixed error on serial that was (currently) irrelevant with this os.

•IMPLEMENTATION

Added on sys_flag bit .2 --> enabled report of incoming BCC messages.

Added on sys_flag bit .3 --> enable report BCC messages on output

•IMPLEMENTATION

In case of step with multiple inputs disabled I make it so that it is not possible to put breakPoint on step

build0

•CORRECTION

Disabled inline diagnostics on MV_TO_N_V (which could cause diagnostic 9104 TASK RULE : excessive length)

•CORRECTION

Transducer definition - using R/NVRR RR and NVRR registers could erroneously fail to check index used as tests were swapped.

•VARIANT

Optimization of speed reference output management on analog output.