Date: 19 December 2006
Os: 13.1.832
RoboxLib: 2.1.0
Derived from: RTE 33.0.4 synchronous to 32.6.2 dated December 18, 2006
Note: suite with >= RDE3.3.0
Note: suite with >= RC3E v33.1.3
build5
•VARIANT
Set as default value (in case of parameter loss) for POS_THR the numeric value 0.01 instead of 10
build4
•VARIANT
The deceleration on the end of strokes is stored when the stopping phase begins. The acceleration used is also recalculated so as to avoid speed jumps when changing accel. (from large value to small value!)
build3
•IMPLEMENTATION
Added SLOT directive nSlot offset [LEN m ] [-D|-H|-B] [-M n]
•VARIANT
Change double2all na_double
build2
•IMPLEMENTATION
Management of phase execution on rte.cfg
•IMPLEMENTATION
Loading and execution of RPE
•VARIANT
In MV_TO_N_V the feedrate is used to normalize the initial velocity equal to vi_entrant = vi_axis / Fr
•VARIANT
Inserted OSFM 13.1.638 which REQUIRES and SUPPORTS BIOS 1.1.0. Note: this bios REQUIRES this OSF or higher (Sistem Call x atomicity)
build1
•CORRECTION
Power Set
Axis enable management : sometimes axis enable would fail and correct diagnostics would not be issued
•CORRECTION
Ladder
Fixed random problems accessing the monitor.
•CORRECTION
Avoided restarting tasks unnecessarily to avoid filling task management waiting for queues.
•CORRECTION
Avoided waiting if channel disabled or queue error.
•CORRECTION
Avoided loops due to errors on queues.
•CORRECTION
Problem after 32 uploads would freeze communication trask
build0
•CORRECTION
Ladder was not working correctly on some block instructions or multiple outputs if one of the outputs was a timer and/or counter ()
•CORRECTION
On interpolated moves the initialization steps were being executed multiple times unnecessarily()
•IMPLEMENTATION
Handling ascii command execution in rte.cfg
•IMPLEMENTATION
Handling phase execution of commands in rte.cfg
•IMPLEMENTATION
Added bit handling SYS_FLAG.4 to enable in the alarm
9900 Illegal Arg. A:aaa T:tt St:sss
instead of the argument number 'aaa' a number related to the routine that generated the alarm.
•CORRECTION
In the ladder the keyword AM(n) did not work if used in comparison and/or math blocks
•CORRECTION
With ladders it could happen that some units (timer, or real ) were aligned odd causing an alignment error on first use. To remedy this all variables are rounded to 8
•CORRECTION
Instruction FDIR did not return all filenames
•CORRECTION
To solve the problem that RDE going ONLINE with debugging reports that the file may not be the right one since CRC(on control) is no longer calculated for ELF files, I use TCLOCK instead
You must also have the updated compiler version to work.
•IMPLEMENTATION
Power_set
Added -E parameter on GLOBAL_POWER_FEEDBACK to enable feeback handling on front.
Default is on level.
Note: in case you select front and give power request with feedback already present the power enable command is not generated!!!
•VARIANT
Power_set
The fault state of the can is now assumed to be no feedback from drive, regardless of the status of bit 0 and bit 1
•VARIANT
Power_set
Enable management is enabled only after global power feedback arrives
