Date: 11 June 2016
Bios: 2.5.0, Os: 14.7.10, RLib: 4.5.3, RLibpp: 2.1.4, MiniXML: 1.3.1, EcatLib: 1.0.2
Derived from : RTE 34.18.12
Note: available for controls with PPC-G2 cpu and for controls with PPC-P2020 cpu.
Note: suite with >= RDE3.11.9/3.50.1
Note: suite with >= RC3E v33.5.19
Note: suite with >= RPE v1.6.4
Note: May cause loss of alarm history
build 13
•CORRECTION: Loss of parameter retentivity: Fixed error introduced in version 34.18.10. In case of parameter loss, after clearing alarms, control could crash with various processor exceptions
•IMPLEMENTATION: Can/Sercos boards diagnostics: Added diagnostic on report when boot and programs loader operations fail
•VARIANT: uRmc2/uRmc2/RP-1 Canbus: Disabled can channel when initialization you have error code
•VARIANT: Startup CAN/SERCOS boards: Changed wait time after removing reset to can/secos boards. Changed from 2 sec to 3 sec.
build 12
•VARIANT: CANBUS/SERCOS boards: Increased the initial configuration wait timeout on CAN/SERCOS boards to 60 sec.
•IMPLEMENTATION: SYS_CFG - FP EXCEPTION: Added, in variable SYS_CFG bit 16, flag to enable diagnostic handling associated with exceptions on FP calculations.
•CORRECTION: AXIO RP-1: Removed unnecessary diagnostics at switch on if using rp1 without AXIOLINES boards.
•CORRECTION: EXEC-LOADING MODE: Fixed error that could only occur if an ethercat line was present: control at switch on could remain in loading mode even if task 1 was loaded.
•CORRECTION: FB.CFG: Eliminated possible memory fouling problem during initialization if registers associated with ethercat variables were defined.
build 11
•CORRECTION: AXIO - OUTPUT: Eliminated problem that caused the "SUBSTITUTE VALUE" to abnormally intervene on digital outputs (typically resetting the outputs)
•IMPLEMENTATION: Added the AXL F DI16-1 DO16-1 2H board in autoconfig.
•IMPLEMENTATION: RULE DIAGNOSTICS: Added storing code last routine executed in rule in lease whose address is in report in : 'RULE TASK started (address in Hex)' May be useful if blocking rules to figure out where. See table of PARTIAL (robox reserved)
•CORRECTION: FLOAT: Converting from double to float if value is less (in absolute value) than 10e-37 is imposed 0
build 10
•CORRECTION: FB_STSW and FB_CTRLW: Fixed variable update if speed or torque reference was selected in axis configuration
•VARIANT: SYNC_GITTER_ADJ: Removed this retentive parameter, as it is no longer used in versions RTE33 and RTE34 and replaced by BOPEX_TO
•VARIANT: ETHERCAT: Increased default timeout in execution initial node commands
build 9
•CORRECTION: POWER SET delayed power drop: Fixed error on delayed power drop handling:
*did not drop power if feedback returned before timeout expired.
*did not fall power if alarm was reset before timeout expired.
•CORRECTION: BCC3 display var safe: Fixed error on BCC3 command management 'bccSafeReadVar - Safe read variable value (316)'
•VARIANT: RCB(Robox Control Board AS3031.xxx): Made the following corrections:
*deleted p8841 management for acyclic data exchange.
*modified STO alarm handling, automatic STO enable can be disabled with 256 in P8841[36]
*eliminated automatic STO enable on encoder-only axes or unmanaged axes.
*enabled alarm generation and STO status management only if Siemens SW higher than 4.6
•CORRECTION: Touch probe: Corrected handling for POS_CAPTURE and MVA_ZC
•VARIANT: LP_FILTER: Added check to be sure to reset filtered value with incoming value equal to 0.
•IMPLEMENTATION: Standard multidevice CoE transducers/actuators.
•CORRECTION: FB_STSW and FB_CTRLW: Fixed error that caused these variables to not function after losing memory until the next switch on.
build 8
•CORRECTION: AXIOLINE Fixed error that caused rules to hang when accessing axioline i/o from both task and rule.
•IMPLEMENTATION: SYS_FLAG Touch probe .
•CORRECTION: Generic CAN/COE transducer.
•VARIATION: Changed message in report concerning duration of 'power failure interrupt' in case of restart due to software reset
build 7
Note: May cause loss of alarm history
•IMPLEMENTATION: New ECAT alarms RCB board integrated motion(Robox Control Board AS3031.xxx)
•IMPLEMENTATION: CPT_1 command
•IMPLEMENTATION: Auto-sizing Alarm History: Setting 0 as the entry number disabled alarm history handling in previous versions. Now putting 0 enables auto-sizing (i.e., it sets the maximum possible). To disable management put a negative value.
•IMPLEMENTATION: SYS_CFG B14: alarm 9113
•IMPLEMENTATION: CAN/COE generic transducer: During initialization, it is checked if the drive handles object 60D0:1 in which to specify the input to be used as a touch probe. The result information is written in report
•IMPLEMENTATION: AXIO_ROBJ and AXIO_WOBJ Functions.
•IMPLEMENTATION: AXIO_ROBJ and AXIO_WOBJ ascii commands
•CORRECTION: Open Rename file on CF/SD: Avoided increased handling time for instructions that involve creating a file in directories (open and rename).
•CORRECTION: Absolute Transducer RCB: Improved capture management with absolute transducers using integrated motion RCB board(Robox Control Board AS3031.xxx).
•CORRECTION: Alarm History: Modified alarm history scaling calculation to handle PF (Power Failure) duration diagnostics.
build 6
•IMPLEMENTATION: SYS_FLAG B18 Axioline
•IMPLEMENTATION: RTE.CFG ECAT_AXIOLINE.
•CORRECTION: STACK ALARMS BCC3: Fixed error causing ALIGMENT CHECK when reading stack with bit 0x1 of flags in 1
•CORRECTION: COE_WOBJ SOE_WIDN commands: fixed error on data setting in case of OCTET_STRING data type.
•CORRECTION: SDO error: corrected error on sdo error receptions on object write operation.
•CORRECTION: EthernetIP on Ethernet CPU: corrected error that did not return it operational. Error introduced as of RTE 34.17.0.
build 5
•CORRECTION: Generic CanOpen transducer: Corrected transducer type name in diagnostic messages in report.
build 4
•IMPLEMENTATION: IS_ALARM_PRESENT function.
•IMPLEMENTATION: ALARM_RESET_PAR Function.
•IMPLEMENTATION: CO_CONTROLWORD_ON (SOE)
build 3
Note: May cause loss of alarm history
•IMPLEMENTATION: BOPEX.STP file
•IMPLEMENTATION: COE_ROBJ command: Added the possibility to specify an R or RR or SR register in which to store the value of the specified object
•IMPLEMENTATION: WGP: Waveform change occurs only at the end of the cycle. Note disabling is immediate
•IMPLEMENTATION: RCB(Robox Control Board AS3031.xxx). Added axis name read management to improve emergency explanation.
•CORRECTION: COE_ROBJ: Returned possible to use values less than 4 as receive buffer length.
build 2
•IMPLEMENTATION: SYS_FLAG. EthernetIP
•CORRECTION: EthernetIP: eliminated slowdown in message exchange.
•CORRECTION: TFTP: TFTP initialization from RSW.CFG was no longer being performed after fixes on OS 15.7.0
•IMPLEMENTATION: Alarms 50 and 2050: Enabled prominent parameter attribute to these two alarms.
•CORRECTION: UDP_RECV_FROM: Fixed error added in version 34.17.1 . The function always returned error code -1012.
•IMPLEMENTATION: New PFID and TSRPF parameters.
•IMPLEMENTATION: SYS_CFG. Implemented the possibility to auto-adapt the size of the user retentive struct.
•VARIATION: ALARM 9104
•IMPLEMENTATION: USER_VERS
•IMPLEMENTATION: TOUCH PROBE C402 MVA_ZC POS_CAPTURE
•IMPLEMENTATION: RCB Ethercat for Sinamics multidrive(Robox Control Board AS3031.xxx)
•IMPLEMENTATION: New RCB alarms: 662,663,664,665,666,667,668,669,670,671(Robox Control Board AS3031.xxx)
•VARIATION: alarm 714
build 1
•IMPLEMENTATION: Multidrive SOE.
•IMPLEMENTATION: New RCB alarms(Robox Control Board AS3031.xxx), 674, 673, 672
•CORRECTION: In alarm generation management 11, used real position error(EPOS) instead of filtered position error(EPOS_F)
•CORRECTION: LADDER SYS_FLAG Parameter Retentivity: Fixed error that caused loss of parameter retentivity by using bit 1 of SYS_FLAG and having a ladder task running.
•CORRECTION: Modified handling to avoid system lockup by imposing a Breakpoint (read/write) on an R or NVR being written to bit.
build 0
•CORRECTION: TASK LOADING: Toughened management.
•CORRECTION: ERROR ON ALARM DEFINITIONS: In case of error on user alarm definition, besides giving warning in report, avoided storing incomplete information.
