Date: April 3, 2018

Bios: 2.5.1, Os: 14.8.5, RLib: 4.6.7, RLibpp: 2.1.9, MiniXML: 1.3.3, EcatLib: 1.0.2

Derived from : RTE 34.21.0

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

Note: suite with >= RDE 3.52.1

Note: suite with >= RC3E v33.5.24

Note: suite with >= RPE v1.6.11

build 1

•CORRECTION: Alarm 949: Corrected axis mask visualization when all 32 axes are emulated.

•CORRECTION: Display: User messages were no longer being displayed. Error present on verion RTE 34.21.0.

•IMPLEMENTATION: PROFIBUS/PROFINET: Added the keywords in the configuration file: LITTLE_ENDIAN_DWX, BIG_ENDIAN_DWX, MIDDLE_LITTLE_ENDIAN_DWX, MIDDLE_BIG_ENDIAN_DWX

•CHANGE: File Batch Report: Only the information of the BATCH files actually present on Flash and executed is included in the report.

•CORRECTION: ALARM_RESET_PAR: Fixed error on alarm reset handling with parameters. It worked correctly only under certain conditions, otherwise it reset other alarms.

•CORRECTION: CO_PAR_UPLOAD CO_PAR_DOWNLOAD: Fixed error where during execution of these instructions, although bits 18 and 19 of SYS_CFG were imposed, unknown object or subindex errors were not treated as warnings. Performance 'broken' as of RTE 34.19.10.

build 0

•IMPLEMENTATION: FIELDBUS variables: Added handling for linking fieldbus variables to a specific byte of an R register.

•CHANGE: MAIN-TYPE TASK (TIME-SHARING): Changed internal handling in order to avoid task execution blocks under special usage conditions (xPL - OBB ).

•IMPLEMENTATION: ECAT_APRD: ascii directive to perform reading of internal registers of an ethercat device using incremental address.

•IMPLEMENTATION: ECAT_FPWR: ascii directive to perform writing of the internal registers of an ethercat device using absolute address.

•IMPLEMENTATION: ECAT_APWR: ascii directive to perform writing of the internal registers of an ethercat device using incremental address.

•IMPLEMENTATION: ECAT_PROBE: ascii directive to perform device discovery on an ecat line.

•CORRECTION: MVA_ZC: Corrected error on 0 cycle to mechanical end of strokes with torque reduction management (with known drives). In case of SDO error when reading previous value, 0 was imposed as torque value.

•IMPLEMENTATION: ALM led: Added management for the ALM led.

•CORRECTION: CV ETHERCAT: Fixed error that, under certain Ethercat line load conditions, caused cv to be calculated at 0 for one sampling and then recovered the next sampling.

•IMPLEMENTATION: Report RTE.CFG: Added keywords RTE_REPORT_ITEMS and OS_REPORT_ITEMS.

•CHANGE: CoE object 60D0: Removed request if object managed by drives.

•IMPLEMENTATION: MASK_NOWAIT_FLAG: Added mask of free traffic light waiting disable flags for Ethernet ports.