Date: August 4, 2017

Bios: 2.5.1, Os: 14.8.3, RLib: 4.6.6, RLibpp: 2.1.9, MiniXML: 1.3.3, EcatLib: 1.0.2

Derived from : RTE 34.20.3

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

Note: suite with >= RDE 3.51.1

Note: suite with >= RC3E v33.5.23

Note: suite with >= RPE v1.6.10

build 4

•IMPLEMENTATION: ARM A9: R3 task handling for ArmA9 and various variants for gcc6.3 and gcc7.1 compiler.

•CORRECTION: POWER_SET: Fixed error that could occur if power drop delay handling on alarm is enabled

•CORRECTION: Alarm History: Accepted "ALARM_HISTORY_ITEM -1" command to disable alarm history handling.

•CORRECTION: BCC and USER_DIR Commands: Made direct bcc commands actually work with USER_DIR management and with SYS_CFG.26 set.

•VARIATION: Alarm 995 Report: Removed the output in the diagnostic report "Resetting memory ! (bye bye) " when only memory alarm 995 was present.

•IMPLEMENTATION: ProfiNET: Added the possibility to specify in the PFB.CFG configuration file to manage communications with the master in multislot mode using the keyword USE_MULTISLOT

•IMPLEMENTATION: LOADER_FLAGS parameter: Added loader_flags parameter, which is used to enable the dump in the report of task loading information.

build 3

•IMPLEMENTATION: ARM A9: First changes for ArmA9.

•CORRECTION: ALARM_RESET_PAR: Using this instruction in multi reset mode (reset all alarms on one axis or the same alarm on all axes) is not allowed to specify any parameter (mask must be 0). This illegal situation was not being diagnosed correctly (did not give alarm 9900).

•CORRECTION: AX2RID: Fixed error that limited proper functioning only when the device was of type 'position reference'.

•CORRECTION: Alarms 777 and 793: Fixed error that prevented generation of IMD alarms 777 and 793.

•CORRECTION: BPSTS directive: Corrected error in directive execution.

•CORRECTION: SAFEOP REPORT: Corrected wording 'SAFEOP' in report message.

•IMPLEMENTATION: BCC3 bccAlarmHListE: Added bcc3 command handling to be able to read alarm history in advanced format with parameters separated from any text.

•CORRECTION: BCC3 bccAlarmSList: Fixed error when extended parameter format was being requested. Parameters were not being sent regardless of the status of "Query flags" 0x000001.

•IMPLEMENTATION: ASCII directive FAST_ACFG: Added ascii directive to perform autoconfiguration: FAST_ACFG [-U].

•CORRECTION: DISPLAY MENU SLOT CONFIG: Corrected visualization of board name on vispan menu SLOT CONFIGURATION .

•IMPLEMENTATION: BCC3 bccAutoConfig: Added management flag 0x4 to set RHW.CFG file generation mode in Update.

•VARIATION: NA_DOUBLE: Unified definition. The one from RLIB is used.

•IMPLEMENTATION: REPORT HW CONFIG: Added dump of found/desired HW configuration to the report.

•IMPLEMENTATION: AH_LOG: Added handling to add messages directly to alarm history from instruction.

•IMPLEMENTATION: GET_HW_INFO STRU_HW_INFO: Added instruction and support structs to have information about boards directly connected to CPU.

•CORRECTION: SYS_LOG: Avoided using SR(0) as the filename of system_log. This could have happened if bit 22 of SYS_LOG was selected but SYS_LOG_AUX contained 0. Before this correction the sys_log gave aborted operation, while now it still creates the log file, giving it the standard name of /log/system_log.txt

•VARIATION: RBXPAN, MODEM and CANIO: Removed management!

•VARIATION: RHW.CFG: Fixed i/o word definition for cpu by removing word information not really managed.

•IMPLEMENTATION: INIT.CFG: In the init.cfg file you can specify a user directory name USER_DIR other than the default "/FA/".

•VARIATION: CONFIGURATION FILE: All configuration files that used to be searched in the /F@/ and /FA/ directories are now searched in the directories associated with SYS_DIR and USER_DIR (see init.cfg).

•IMPLEMENTATION: FLAG SYS_CFG: By setting bit 26 (0x040000) of the variable sys_cfg high, any access to a file contained in /FA/, will be converted to an access to a file with the same name, but contained in /USER_DIR/ (see init.cfg).

•CORRECTION: ALERT TEXT: Corrected the word "Communication" in the English text of alarms 82, 83, 84, 85, 86, 87, 88 and 89

• IMPLEMENTATION: ASCII PVIEW DIRECTIVE: Added ascii PVIEW directive to have list of system processes.

•VARIATION: REPORT: The report message when opening a file for reading has been normalized as follows: "context : Reading <filename >----------------------"

•CORRECTION: CO_RNMT: Corrected failed diagnostic error in case of illegal RID number.

•IMPLEMENTATION: SYS_LOG PVIEW: Bit 23 of the sys_log variable enables storing the list of system processes in the system_log.txt file, as if using the PVIEW -F 0xFFF command

•CORRECTION: TIME-SHARING MT_RR_FLAGS: Avoided possible locks by enabling the time-only task main switch. Removed Instruction R to set this performance: "U32 set_rr_flags(U32 mask) in sched.h". This function is now available only in OBB

•CORRECTION: SYS_CFG.25 MASK_NOP_AX: Effectively returned the flag (bit 25 of the sys_cfg variable) to not automatically disable the etherCAT node of an axis set as not present.

•CORRECTION: MVA_FOLLOW2: Fixed error that occurred by setting a value of kSlaveMaster such that the slave to reach the new synch position would have to stop waiting for the master to reach the restart posion.

•IMPLEMENTATION: PROFINET: Added keyword USE_MULTISLOT to enable profinet communication management with non-Siemens masters. Need appropriate sw versions for P.NET Int board and bios for uRmc3.

build 2

•IMPLEMENTATION: SAFETY PHOENIX: Communication between two LPSDO8 masters working.

•CORRECTION: ETHERNET RULE: In order to avoid unwanted elongation of rule execution time, if the Ethernet device is busy, non-essential operations are postponed.

•CORRECTION: ALARM 40: Corrected alarm text "exceeed" with "exceeded".

•CORRECTION: AUTOEXEC.STP: Increased the size of the command read buffer from file (from 128 characters increased to 256).

•CORRECTION: RCB ALARM 714: Siemens alarm code information is imposed as Unsigned data type (between 0 and 65536).

•CORRECTION: TCP IP: Correction on request side TCP socket closure control. (Instead of a close request segment with FIN flag, one with RST flag was sent )

•CORRECTION: ETHERCAT EOE: Correction on EoE initial command handling.

•CORRECTION: ETHERCAT: Avoided wasting time sometimes when there are mailboxes.

build 1

•CORRECTION: MVA_ZC: Fixed error introduced in RTE version 34.19.4. After finishing the final movement (on zero cycle or end of strokes), the preset value was not being imposed on the preset quota, but on the position where the axis stopped.

•CORRECTION: Axes not present: Added automatic disabling of a node on etherCAT line if its axis is defined as "NOT PRESENT." A node with multiple associated axes is disabled if even one of its axes is defined as not present. Before this change, I had to use the ECAT_SLAVE_OFF command to disable the node. If you want to disable this performance you have to set bit 25 of sys_cfg high.

•CORRECTION: RPE and axis number >30: Passed only the actual axes to RPE, this avoids problems if the axis number present in axes group is >30

•CORRECTION: SYS_LOG and SYS_DUMP: The corresponding bits .0 (set low by RTE to indicate the start of the LOG or DUMP operation) and bit .1 (set high by RTE for the duration of the operation) are now set at the same time, and not sampling apart.

•IMPLEMENTATION: SAFETY Instruction: Added instructions for safety modules SAFE_APPL_ACK, SAFE_APPL_DIAG, SAFE_DIAG, SAFE_DIAG_RESET, SAFE_ENAB_OUT, SAFE_OPER_ACK, SAFE_STS

•IMPLEMENTATION: Upgrade to OSF 14.8.x and RLIB 4.6.x