Date: March 5, 2007
Os: 12.19.0000
RoboxLib: 1.04.0000
Derived from: RRT 32.7.1
Note: needs LOADER.BIF
Note: suite with >= RDE3.3.0
Note: suite with >= RC3 v32.0.16
Note: suite with >= CODM0602.UFW
build2
•CORRECTION
FINIT command with lowercase letters did not work
build1
•CORRECTION
The right channel was not being output on 129 CAN (ch) diagnostics... if using different can handlers (e.g. Can robox net(ch0) and Can 402(ch1)).
•VARIANT
Minor change on acceleration time management
•IMPLEMENTATION
Added in MVA_ZC the handling of bit 7 to enable(in1) the execution of the cycle of 0 to end of strokes.
The cyclic is as follows:
One moves to the end of strokes.
Once the mechanical end of strokes is recognized you:
> if FULL_PRECISION is enabled you move back to search for the FULL_PRECISION (e.g.encoder channel of 0) which will be taken as the homing point.
Once the FULL PRECISION point is reached, the movement is stopped.
> if FULL_PRECISION is not enabled you assume the end of strokes as the homing point, it still moves by the programmed value
when the axis is stopped you set CP = PRESET - deviation from homing position
This mode uses:
zcFlag.0 if 1 performs the positive movement to go to the end of strokes
zcFlag.1 not used
zcFlag.2 enable/disable FULL precision
zcFlag.3 1 disables micro use (it is antithesis to end of strokes)
zcFlag.4 not used
zcFlag.5 enable/disable maximum stroke control
zcFlag.6 not used
zcFlag.7 1
nAx axis number
preset quota to be set on homing performed
velPos must contain the position error (IP-CP) that will be used as a comparison term to consider the axis at end of strokes. In addition to this condition being true, it must also be true that the CV is less than velZc/1000.0
velZc handling speed
acc acceleration
jerk jerk
spSch If FULL PRECISION is used, this parameter represents the maximum travelable space
if FULL_PRECISION is not used this parameter represents minimal space away from the end of strokes
filter not used
•IMPLEMENTATION
Added in MVA_ZC the management of bit 5 to enable(in1) diagnostics on maximum travel rreached during setup steps. The space used is equal to the difference between the two electronic end of strokes (MAX_STR(n)and MIN_STR(n))
•IMPLEMENTATION
Added in MVA_ZC the management of bit 6 to disable, in the case of monodirectional movement only, the u0 variation search phase
•VARIANT
Added a parameter on alarm "2000 Unable to perform Homing %d"
the code has the following meaning :
1 --> lack of U0 during the first setup phase
2 --> lack of U0 during the second setup phase
3 --> cycle 0 not occurred in programmed space in data structs
•CORRECTION
Enabled on quick monitor the buffer of 255 bytes instead of 251
•CORRECTION
On monitor, in case of strings avoided limiting returned data to 128 (changed data offset handling)
build0
•VARIANT
Minor change on acceleration time management
•VARIANT
Lettering regarding task ladder 27 became "normal" instead of "medium". In directives affecting ladder added handling letter N that corresponds to letter M
•IMPLEMENTATION
Handling to have on shell, monitor, and oscilli the logical RPE variables or POWER_SETs. Added functions for compiler
•IMPLEMENTATION
Added DF1 communication management.
Uses DF1.CFG configuration file.
In case of error it generates alarm "9206 DF1 configuration fault line(%d)". Still use the report
Added on SYS_FLAG bit 0x40 to enable report DF1 messages received
bit 0x80 to enable report DF1 messages sent
•IMPLEMENTATION
Added in report info of baud and members on serial
