Date: July 21, 2018
Bios: 2.6.0 3.0.2, Os: 14.9.3, RLib: 4.6.10, RLibpp: 2.1.9, MiniXML: 1.3.4, EcatLib: 1.0.2
Derived from : RTE 34.22.2
Note: available for controls with PPC-G2, PPC-P2020, ARM-A9 cpu.
Note: suite with >= RDE 3.53.0
Note: suite with >= RC3E v33.6.1
Note: suite with >= RPE v1.6.14
build 3
•CORRECTION: FBSLAVE: Removed error entered in 34.22.2 that returned Fieldbus Slave unusable.
build 2
•CHANGE: RPL: Changes for XPL initialization phase.
•CHANGE: OB RC3E : Modified handling to address "broken" compatibility issue in RC3E 33.6.0.
Note: DO NOT use 33.6.0 compiler to compile OB for use with RTE lower than this version.
•MODIFICATION: Axes with transducer only: modified handling for axes defined with transducer only: in MVA_OPEN_LOOP the quota CP is copied to IP in the system loop closure routine no alarm is generated and obviously the loop is not closed. filters on IP and IV are now active.
•EDIT: RTE_REPORT_ITEMS and OS_REPORT_ITEM: Added the possibility to specify on initialization in addition to the size also the functioning mode which can be rotary (default) or fill.
•FIX: TCP: Corrected window handling on large data transfer.
•CORRECTION: ECAT EoE: Corrected Eoe management on data retransmission (Problem encountered for example doing save all parameters operation with BOSCH Drive).
•CORRECTION: ECAT MAILBOX: Fixed "check mailbox ready" handling.
build 1
•CHANGE: BCC3 ALARMS RP2: Avoided possible criticism in handling communication of alarm parameters.
•IMPLEMENTATION: serial BAUD: Added management to be able to program the following baudrates in both instructions and directives: 128000 256000 512000 1000000 2000000
•EDIT: SER_MOD DTR-DSR: In case 'normal' mode is selected , if the Robox device serial does not have DTR and DSR, their management is excluded (e.g. on SER2 of RP2).
•IMPLEMENTATION: WEB SERVER: Enabled web server management (advanced).
•IMPLEMENTATION: HTTP_SRV and HTTP in RSW.CFGX: Disabled functionality.
•IMPLEMENTATION: NETWORK.CFG IPADDR.DEF: Ethernet networks configuration will first be searched in the NETWORK.CFG file, if this file is not present then the IPADDR.DEF file will be searched. Typically these files are stored in the user directory, but it is also possible to put them in the system directory.
•EDIT: BP: Changed the descriptive text of the breakpoint status.
•IMPLEMENTATION: DBGRTE variable: Added non-retentive PI[124] with r/w access to bits as well. DBGRTE for robox debugging use.
•IMPLEMENTATION: FBSLAVE event time variables: Added variables containing system times (in seconds) related to events used by fbsblave. All of the following variables are read-only non-retentive APRs. The meaning of the event depends on the slave fieldbus used. The index is in the FbSlave channel used (for now only index 1 is usable): FBS_INT_TIME APR[48] FBS_SYNC0_TIME APR[49] FBS_SYNC1_TIME APR[50] FBS_SYNC2_TIME APR[51] FBS_SYNC3_TIME APR[52]
•CHANGE: SERIAL and USB BAUD: At switch on, all serial and usb link channels are programmed with BCC3 protocol using the maximum value of the device itself (with the limitation to 1 MBit) as the default baud value.
•CORRECTION: SERIAL RTS-CTS: Correct management
•CHANGE: RCB CU sw 5.1: Eliminated RTE startup problems on RCB board inserted on Sinamics CU with software version 5.1.
•CORRECTION: Stack fault diagnostics: Corrected incorrect output on corrupted stack diagnostics report pRun = 0. Problem that occurred on hw with cpu p2020 and A9. To remedy it is essential to use bios 2.6.0 or later
•EDIT: Ethernet communications: various improvements for socket closure management.
•CHANGE: FLASH management: improved management in case of busy device.
•CHANGE: NETCONTROL SWRESET: NETCONTROL configuration is assumed only after a switch on (cold start). In case of a warm start (SWRESET) the previous configuration is immmediately available and any new configurations are NOT assumed.
•IMPLEMENTATION: UPGRADE NETCONTROL: Added ASCII UPGRADE NETCONTROL directive to give netcontrol the upgrade command. The file you use to upgrade must be present on flash in the "/WEB/" directory. Its name is: robox_upgrade.tar.gz. In addition to the result in the response to the command, some information is added in reports.
•IMPLEMENTATION: system variables NC_STATUS NC_CMD: Added system integer variables NC_STATUS and NC_CMD to know status of NETCONTROL and give it commands.
build 0
•CHANGE: MASK_NOWAIT_FLAG: Changed name of MASK_NOWAIT_FLAG variable to NOWAIT_FLAG_MASK.
•IMPLEMENTATION: Serial AXL F RS UNI: Added communication management on serial AXL_RS_UNI device connected to AXL F BK EC module on ethercat line.
•IMPLEMENTATION: al2am function: Added al2am function.
•IMPLEMENTATION: CPT_2 directive: CPT_2 directive added.
•IMPLEMENTATION: UNLATCH MEMORY LOSS directive: UNLATCH MEMORY LOSS directive added.
•MODIFICATION: Break-point in Fetch A9: Modification for A9 processor only: handling of self-disabling "continuous BP" mode if address does not match an R3 program step.
•CORRECTION: Compilation A9: Added flag to prevent compiler from using size other than int for enum (to avoid problems on packed structs).
•IMPLEMENTATION: IO_MAP directive: Added IO_MAP directive.
•EDIT: WHO directive: Added flags to WHO directive.
•IMPLEMENTATION: IO Overlap: Changed the handling of the i/o mapping. Overlap of the various IO mapping areas between the various defined Ethercat and/or virtual can lines is now allowed. Run time checks are no longer area-based but single WORD.
•IMPLEMENTATION: CLEAN_RETENTIVE_MEMORY directive added.
•CHANGE: BCC3 CMOS_RESET command: Changed management. It is now identical to CLEAN_RETENTIVE_MEMORY. In the previous version, the register area was still saved but the memory loss flag was forced...
•IMPLEMENTATION: MGV antenna management: (internal documentation).
•CHANGE: IMD alarm 653: Changed meaning to emcy 0xFF80 0x01 0x0000482D00 : now it is no longer generic alarm or warning but only alarm: 654#ax IMD Tranducers Battery alarm. It is now considered transducer alarm with C0_done loss.
•IMPLEMENTATION: Added handling of the following emcy with IMD:
0xFF80 0x01 0x0000482D00: As an effect of this emergency message there is the output of the alarm: 9654#ax IMD Tranducers Battery warning
0x7310 0x01 0x0000482F0: It is considered as a transducer alarm and as an effect of this emergency message you have the output of the alarm: 651#IMD Tranducers position overspeed
0x6100 0x01 0x0000483000: As an effect of this emergency message there is the output of the alarm: 652#ax IMD F2D DPRam Synchoronus Watch-Dog while powered
