Date: July 16, 2012

Os: 14.3.6 RLib: 4.2.0 RLibpp: 2.0.0

Derived from : RTE 34.5.5

Note: available for controls with PPC-G2 cpu and for controls with PPC-P2020 cpu.

Note: suite with >= RDE3.10.6

Note: suite with >= RC3E v33.5.5

Note: suite with >= RPE v1.4.7

build 5

•VARIANT: ECAT ALERT 9104: eliminated diagnostic output on initial messages that caused abnormal rule lengthening during initialization.

•IMPLEMENTATION: EMCY IMD : added emcy management.

0x4200 0x01 0x0000482700 and 0x4200 0x01 0x0000482800 in alarm 32

build 4

•IMPLEMENTATION: LTS_LENGTH, LTH_LENGTH, LTN_LENGTH, LTL_LENGTH : Read-only parameters added:

LTS_LENGTH synchronous task ladder duration

LTH_LENGTH high priority ladder task duration

LTN_LENGTH duration task ladder normal priority

LTL_LENGTH low priority ladder task duration

•IMPLEMENTATION: RL_MIN RL_MAX SYS_FLAG : Added parameters to the read-only:

RL_MIN minimum rule duration

RL_MAX maximum rule duration

TM_RL_MAX time when RL_MAX was detected.

SYSFLAG.24 command to reset minimum/maximum values

build 3

•CORRECTION: ECAT: corrected failed network initialization if many devices with DC present.

•CORRECTION: ECAT: corrected incorrect association to logical station if among the devices present on the line there is at least 1 that is a subset of the name of others (Ex. M1 and M10, M11 ...)

build 2

•CORRECTION: info : correction of output of diagnostic messages

build 1

•CORRECTION: ETH WD : Remedied possible system shutdown problem with cpu P2020 by connecting an ethernet cable with broadcast message on ETH port to which no IP was associated

•VARIANT: ALARM FOLLOWING SA_IP_IDX. : Directly used the variable EPOS(ax) in the servo alarm calculation management.

The parameter SA_IP_IDX(ax) is no longer used.

•IMPLEMENTATION: CAN x DRIVE LINES with DIFFERENT FREQs. : Manage real position/speed/acceleration information taking into account the time of actual update of data coming from CAN with scan frequency submultiple of system frequency (e.g. si= 0.001 -> 1Khz system. Freq. sync. can line 250Hz).

Also the calculation of EPOS variable and any filters are updated only when the position is updated. To know in which rule scan the quota value is updated use the axis variable TRD_AL_INFO.(9) = 0

•IMPLEMENTATION: TRD_AL_INFO: added axis variable that returns fieldbus transducer alarm information available.

•IMPLEMENTATION: ECAT : Ethercat enabled on any of the ETH ports. Enabled the use of more than one ethercat line.

•IMPLEMENTATION: IMD: emcy update.

•VARIANT: ECAT DC : with this version of RTE (and also with the previous one) when using Ethercat with DC (Distributed Clock) you will, presumably, have to adjust the 'shiftTime' . It should have a value greater than 100 uSec

•CORRECTION: CANSIN (RCB): first version that can work with CU with profinet

•CORRECTION: CAN.INT. P2020 : sometimes using cpu P2020 the can.int1 and can.int2 boards would not start

•IMPLEMENTATION: IMD FOE : added possibility of using foe to upload firmware to imd

NOTES : already present in previous RTE version.

•CORRECTION: SWRESET : SWRESET command was not always being executed.

•VARIANT: OSCILLOSCOPE RealTime : modified handling to improve transmission of high frequency data. Increased on P2020 cpu the frequency of the internal oscilloscope management task.

build 0

•CORRECTION: SER_BCC_H_INIT, BCC_H_SETUP, BCC_SEND_ BCC_RECEIVE: fixed error introduced in versions 35.5.x (where use is not possible)

•CORRECTION: UAR : UAR did not work if pathname+filename of file was greater than 19 characters