Date: October 24, 2006
Os: 13.00.13797
RoboxLib: 2.00.0000
Derived from: RTE 32.4.x synchronous to 32.5.4 dated Oct. 17, 2006
Note: suites with >= RDE3.3.
Note: suite with >= RC3E v33.0.1
Note: first version to run on PPC
build4
•IMPLEMENTATION
Management setting for encrypted definition on number of axes and transducers
•CORRECTION
Made netint work again
build3
•IMPLEMENTATION
Management of power drop delay in case of lack of feedback
Added keyword in definition of POWER_SET : POWER_OFF_DELAY_ON_NO_FEEDBACK sec.
Added info on PS_INFO and PS_STATUS directives.
Added bit 0x80 on PS_STATUS instruction --> count in progress
Added bit 0x100 on instruction PS_STATUS --> actual status of feeback
Changed sense to bit 0x10 on instruction PS_STATUS --> delayed state (possibly) of feeback
•IMPLEMENTATION
Alarms handling power drop delay in case of major alarms causing power drop
Added keyword in definition of POWER_SET : POWER_OFF_DELAY_ON_ALARM sec.
Added info on PS_INFO and PS_STATUS directives.
Added bit 0x40 on PS_STATUS instruction --> count in progress
•CORRECTION
Power was not being generated if all global power feedback was already present at the time of the power request
•IMPLEMENTATION
Alarms handling of axis alarm for global feedback drop
Added the following keywords to the definition of GLOBAL_POWER_FEEDBACK :
-AALn axis alarm number when opening Gloabal Feedback (relative to axis).
n can be -2 -1 0 or default user alarm number (0)
-AP1n first parameter for user alarm
-AP2n second parameter for user alarm
-AP3n third parameter for user alarm
-AXn logical axis number associated with the definition. In case of GLOBAL_POWER_FEEDBACK CAN definition the axis definition is implicit and is valid for all axes managed via CAN
•VARIANT
Output on predefined alarms what condition caused the feedback chain to open (FALSE feedback mask)
•IMPLEMENTATION
Management by power_set array, the limitation is that on rte cfg must be defined as:
name[idx] with no spaces between name and index and no spaces within the index, which must be a decimal number.
Similar considerations apply to the directives
build2
•CORRECTION
mv_to_n_v in certain cases generated NANs
•CORRECTION
Did not execute last axis on speedref, torque ref, and position ref
•CORRECTION
PowerSet-enabled major fault alarm on channel fault
•VARIANT
Added retentive parameter SEM_USER pi[61]
bit 0 enables use of user enable
Added non-retentive parameter SEM_STS pi[62]
bit 0 enables validation of data in tx
•VARIANT
More performant exception handling, with specific alarms
used to be "Illegal status" now "Not existing File"
•VARIANT
Changed diagnostic of when trying to run and there is no task 1
before it was "Illegal status" now "Not existing File"
•IMPLEMENTATION
Enabled the use and definition of U0 on all transducer types even OFF
•IMPLEMENTATION
Enabled the use and definition of U0 on all transducer types also OFF
•IMPLEMENTATION
Added integer parameter PI 60 U0 - state of zero micros associated with transducers
build1
•IMPLEMENTATION
Added bit 0x20 on status of power_set :
indicates if the last power drop is due to lack of global feedback
status is reset to zero the moment there is a new power request
•CORRECTION
Fixed yet another elf allocation problem.
•CORRECTION
Correction on file open handling on fopen
•IMPLEMENTATION
Enabled the number of manageable bp to 32
•CORRECTION
Re-enabled Ascii directives for force and release I/O.
•CORRECTION
Fixed error on serial that with new os caused task lock on communication error
•IMPLEMENTATION
Added on sys_flag bit .2 --> enabled incoming BCC message report.
Added on sys_flag bit .3 --> enabling report BCC messages on output
•IMPLEMENTATION
In case of step with multiple inputs disabled I make it so that it is not possible to put breakPoint on step
•IMPLEMENTATION
Modified VARLOC table to have all elements of size at least x32
•SITUATION
Link with preFerie operating system
build0
•SITUATION
First version of RTE - without bp
