Date: July 27, 2021

Bios: 1.12.2 2.6.0 3.2.0, Os: 14.11.5, RLib: 6.2.2 MiniXML: 1.3.5

Derived from: 34.26.03

Note: available for controls with PPC-G2, PPC-P2020, ARM-A9 cpu.

Note: suite with >= RTE 3.54.2

Note: suite with >= RC3E 33.9.1-9

Note: suite with >= RC4E 1.0.0

Note: suite with >= RPE 1.7.8

build 4

•CORRECTION: TCP: Fixed error introduced in version 34.26.3 on modbus tcp client handling. The error could cause control blocking under special conditions of TCP communication.

build 3

•CORRECTION: MODBUS CLIENT: Changes to fix the system crash problem when disconnecting the ethernet cable using the "modbus client" management. Problem present in RTE version 24.26.2 Improved generic behavior in case of communications failure.

•CORRECTION: MODBUS SERVER WD: Corrected diagnostic text (changed RTWD to WDR).

•CORRECTION: Instruction AXIO_WOBJ: Incorrect code was returned if:

•the write instruction was of a pass-through type

•the write was of an object of a device directly connected to the control (RID = 0)

•the write operation had already been successfully executed but the function was being called.

•VARIATION: RULE ON INPUT RPP: Added handling for using interrupt structs (stru_int) on global variables for RPP language.

•VARIATION: CANOPEN: Changes for handling logical start of CAN channel even if no one is connected on the line. Management of 'CAN cannot transmit' diagnostics (resulting in blocking of the can channel) has been disabled when NO station is configured 'node must always be present'. If at switch on no node is present or the cable is disconnected on the master side or there is an inability to communicate (nodes with wrong baud), the alarm "9204 C402(x) configuration fault (25)" is no longer generated but the alarm "9204 C402(x) configuration fault (0)" is issued The moment a station shows up on the line it will return to normal communication, after the possible (if requested) reconfiguration phase via sdo. Verification of the actual presence and functioning of stations is left to the user software.

•VARIATION: CANOPEN SDO: Limited the number of sdo's to be sent at each sync cycle to avoid arriving at sync management time with still messages to be transmitted ( typically SDO's ), messages destined to be deleted.

•IMPLEMENTATION: NIDEC COE DRIVER: Added NIDEC CoE type to EtherCAT CoE transducers and actuators - corresponds to generic 1 ch drive.

build 2

•CORRECTION: Modbus client: Closed connection when response wait timeout expires after sending a command.

•CORRECTION: Alarm 2 Parameter Registers loss : Cause modification made to RTE 36.26.1 , setting the bits of SYS_CFG_2.2 and/or SYS_CFG_2.3 to 1, Alarm 2 Parameter Registers loss was generated at switch on next time.

•CORRECTION: ETH_BRIDGE directive: Now works regardless of the configuration made or not made in RHW.CFG.

•CORRECTION: UDP gateway: Correction to be able to use UDP through the default gateway when destination IP is outside the configured Ethernet networks and BIND, indicating IP address from which to accept frames, has not been done on the socket.

•CORRECTION: PIN directive: Limited the value that can be specified as process id.

•VARIATION: RULE_PERIODIC on RPP: Modified the data structs for handling interrupting tasks as RULE PERIODIC using global variables when using RPP.

•VARIATION: NETCONTROL PROXY: Aligned the structs of the configuration XML file with that generated by RDE 3.54.2

•VARIATION: AXIO_WOBJ: Added return code -20 to report that the written value is the same (code generated only when updating firmware).

•IMPLEMENTATION: RPP: Handled string type variables in variable inspect.

•IMPLEMENTATION: RPP: Management support for reading and writing single properties.

•IMPLEMENTATION: AXIOLINE diagnostic object 0x0018 : Added management for full visualization of object data 0x0018 for axioline devices using directive: AXIO_ROBJ rid slot 0x18 0 -V.

•IMPLEMENTATION: EIP DEVICE_NET strings: Added possibility to exchange strings via Ethernet/Ip or Devicenet as well.

•IMPLEMENTATION: MODBUS SERVER WD TIMEOUT: Added management to be able to associate with a group of 16 DISCRETE_INPUT or COILS or a word of INPUT_REGISTER or HOLDING_REGISTER the functionality of continuous access control by any client within a maximum latency. Note : the check is done in SERVICE (default freq 20Hz - 50msec)

•IMPLEMENTATION: AXL_F_PM_EF_1F module: AXL_F_PM_EF_1F module management added. Configuration and reading of asynchronous data is done by the usual AXIO_ROBJ and AXIO_WOBJ instructions. /n If the module is directly connected to the control or if it is connected to the ethercat head and then defined as device ECAT_PM , reading of process information is done by the new instruction.

•IMPLEMENTATION: Ecat terminal definition AXL_F_PM_EF_1F: Added handling to define one or more AXL_F_PM_EF_1F terminals on ECAT device. Operation essential for the use of the AXIO_PM_R instruction.

•IMPLEMENTATION: Web: Added control image AS1018.012.

•IMPLEMENTATION: AXL_SE_SSDI8_3 AXL_SE_SSDO4_3: Added management for two new safety devices.

build 1

•CORRECTION: Fieldbus object access from OB: Blocking mode has been enabled for read/write fieldbus or axio device object functions even when invoked from OB in a timesharing task.

•CORRECTION: Alarm file definition in OBS: Alarm file definition in ob no longer worked. fixed.

•CORRECTION: POWER_SET: Removed clear command warning to channel enable feedback timer at appropriate time.

•CORRECTION: SER_CON: Added possibility to set transmission configuration also to serials using BCC3.

•CORRECTION: SER_MOD: Mode 0 imposed ASCII+LF as communication mode instead of BCC3 as described on manual. Must use mode 18 (ASCII without interlocks) to set ASCII mode.

•CORRECTION: MODBUS_CLIENT: Added closing of connection when sending a command successfully but no response.

•CORRECTION: AXIOLINE: Fixed error that occurred when there were multiple 8-bit modules in the axioline line, data from the last modules in the line could be incorrect. The Modules in question are: AXL_F_DI8_DO8_ , AXL_F_DI8_ , AXL_F_DO4_ and AXL_F_DO8_.

•CORRECTION: AUTOCONFIG COMMAND - UPDATE: Corrected autoconfig -update handling when IW or OW addresses were imposed (USE_DEF_IO).

•CORRECTION: Initial IO Mapping Display: Fixed in report visualization of initial addresses of INP_w and OUT_W of boards even when i/o were mapped to addresses other than default (USE_DEF_IO).

•VARIATION: SYS_CFG_2: Removed the retentivity to bits 2 and 3 of the variable sys_cfg_2.

•IMPLEMENTATION: SYS_CFG_2 (0x100) Serial Axio: Added configuration flag to disable asynchronous message handling on AXIO bus for serial and IOlink device management.

•IMPLEMENTATION: POWER_SET: Also added configuration information to powerset lovs: defined feedback mask, axis mask whose major alarms cause power drop

•IMPLEMENTATION: MOVE RPP: Added information about the internal phase of homing type movements .

•IMPLEMENTATION: EC2B ALARM 630: Added for Robox EC2B drive the 630 alarm generated with emcy 5112 01 0000403BFF.

•IMPLEMENTATION: ASYNCHRONOUS INTERRUPTS: Modifications for handling interrupt data structs using global variables for use with RPP.

•IMPLEMENTATION: NETCONTRL PROXY: Added management for configuring proxies on netcontrol.

•IMPLEMENTATION: RPP: Implementations debug properties.

build 0

•CORRECTION: POWERSET status bit power drop: Correction on the generation of power drop prentotation signals. Warning was sometimes taken off one sampling in advance.

•CORRECTION: NETCONTROL after swreset: Netcontrol was no longer working after a control swreset. Corrected.

•CORRECTION: POWER_SET TM_DELAYED_NA: Changed management bit .0 (timer enable) for timer TM_DELAYED_NA.

•VARIATION: PROFINET RP-2: Forced RUN_ALWAYS flag for as1018 family devices.

•VARIATION: PS_STATUS directive: Added physical and logical axis mask information. Better highlighted the enable status of channels.

•VARIATION: PVIEW directive: Added parameters to select displayed information and sorting.

•VARIATION: Variable COE_EMCY_AK - code 3: Added code 3 to extrapolate channel number from emergencies of PARKER PSD1M series drives.

•VARIATION: SWRESET directive: Added new parameters.

•VARIATION: BCC SWRESET and HWRESET commands: Added handling of flags specifying what to reset (CPU / NETCONTROL).

•VARIATION: POWER_SET STATUS: Added bit .12 (0x1000) indicating when power_set is deenergized due to lack of global feedback. The bit is reset on request to go to power....

•IMPLEMENTATION: Task/Rule R++: Added initial task and rule R++ management. Refer to the related manual.

•IMPLEMENTATION: OPEN_LOOP AXES: Managed the license for open loop axes. Open-loop axes are condidered axes that have NOT defined transducer and use speed or torque reference. Total number of axes managed between normal and open loop axes is always 32.

•IMPLEMENTATION: Variable pi LIC_OPEN_LOOP_AXES: Added read-only integer variable pi[144] with no bit access. Contains the maximum number of axes in open loop that can be managed. Number defined in the license file.

•IMPLEMENTATION: AXL_SE_STP2_1: Added test handling for AXL_SE_STP2_1 device.