Date: April 3, 2007
Os: 13.3.123
RoboxLib: 2.1.0
Bios: 1.2.0
Derived from: RTE 33.2.3 synchronous to 32.8.0
Note: suite with >= RDE3.4.2
Note: suite with >= RC3E v33.1.9
build4
•IMPLEMENTATION(os)
Recognition of CF insertion regardless of signature (only on CPUs that allow it)
•IMPLEMENTATION(os)
During configuration, in case of SDO communication error, warning of logical station number and physical CAN node in the report string of os.
•IMPLEMENTATION(os)
Added specific message generation in report of os in case of fault during Compact Flash operation.
•CORRECTION(os)
Fixed problem writing file to root '/'
•CORRECTION(os)
Fixed problem by running FMKDIR and immediately FLOAD
•VARIANT(os)
Increased the minimum task stack to 64k.
•VARIANT
Issued diagnostic moralization on bcc commands for flash/file management
•IMPLEMENTATION
Implemented sdo error description on CO_SDO directive.
•IMPLEMENTATION
Implemented visualization of SDO Abort codes on CO_SDO directive with the following syntax
CO_SDO -AC www www where www www is a number typical syntax 0x0503 0x0000
•CORRECTION
Removed inaccuracies of some checks on BCC commands for flash management
•IMPLEMENTATION
Implemented the description of EMCYs received on reports.
All standard Cia 402 codes are listed. Specific Parker S.B.C codes are also handled if the actuator type is PARKER - SBC (HID type 1)(5) or PARKER - SBC (SLVD type 1)(6)
•IMPLEMENTATION
Added code 13 as a possible alarm parameter --> axes_group name.
Must be used in conjunction with 's' in the alarm definition string.
The axesGroup variable in question is passed to the alarm generation routine.
•IMPLEMENTATION
Support for defining alarms directly in RPE handler. codes for RPE alarms have the following ranges:
omajor alarms 150÷199
ominor alarms 2150÷2199
owarnings 9150÷9199
MODIFY on AH_FILTER (user bits from 0x00FFFFF0 to 0x00FFFF00 and add 0x000010 --> RPE alarm)
build3
•IMPLEMENTATION
Enabled on multiple serials the DF1 communication (just put more definitions)
•IMPLEMENTATION
Managing FDISK BACKUP devicename and FDISK RESTORE devicename commands.
Execution of FDISK BACKUP /diska1 generates a file named "LastBackup" in root whose date and time correspond to the date and time of the last execution of this command.
Execution of FDISK RESTORE /diska1 generates a file named "LastRestore" in root whose date and time correspond to that of the last execution of this command.
•IMPLEMENTATION
Priority management on SDO execution :
from most prioritized to least prioritized:
osystem (0 cycle/execution photo)
odirectives
orule
otask 1
otask 2
o...
otask 8
•IMPLEMENTATION
Instruction POS_CAPTURE_CMD and POS_CAPTURE_STS. They are used to perform position capture via hardware.
These instructions can only be used with transducers that have the hardware to perform this functionality:
oENC_INC
oCAN402 with drive type :PARKER - SBC (HID type 1)(5)
oCAN402 with drive type :PARKER - SBC (SLVD type 1)(6)
•The syntax of the instruction that is used to enable photo capture is
returned = POS_CAPTURE_CMD (nAx, micro, front)
oreturns :
▪< 0 error code
▪-1 photo Hw not executable or error starting photo
▪-2 photo already running
▪-6 illegal axis number
▪= 0 capture disabled
▪> 0 photoId
onAx axis number
omicro
▪< 0 disable capture
▪depending on the device you have
enc_inc 0 --> channel of 0 only
enc_inc 1 --> micro of 0 associated plus channel of 0
CAN402 PARKER - SBC (HID type 1) 0 --> immediate photo of 'resolver lap start or photo on channel
CAN402 PARKER - SBC (HID type 1) 1 --> in0 on drive
CAN402 PARKER - SBC (type HID 1) 2 --> in1 on drive
CAN402 PARKER - SBC (type HID 1) 3 --> in2 on drive
CAN402 PARKER - SBC (SLVD type 1) 0 --> immediate photo of resolver lap start or photo on channel
CAN402 PARKER - SBC (type SLVD 1) 1 --> in0 on drive
ofront
▪1 rising edge (if provided by Hw)(used where applicable)
▪0 falling edge (if provided by Hw)
•The syntax of the instruction used to test the successful capture of the photo is
returned = POS_CAPTURE_STS (nAx, PhotoId, photodst [,rawPhoto])
oreturned :
▪< 0 error code
▪-1 photo disabled by instruction or override
▪-2 aborted operation due to command failure
▪-3 overridden by loop of 0
▪-4 error during photo of 0
▪-5 internal error
▪-6 illegal axis number
▪-10 id no longer managing
▪0 finger ready on trigger
▪1 snapshot taken
onAx axis number
oPhotoId value returned by POS_CAPTURE_CMD
ophotoDst variable of type double in which the instruction writes the value of the photo
orawPhoto optional - variable of type integer in which the instruction writes the raw value of the photo
•IMPLEMENTATION
MVA_ZC
Added management of can transducers on SBC drive with special program PicoPLC
(drive type : PARKER - SBC (type HID 1) (5) or PARKER - SBC (type SLVD 1) (6)).
(The objects in question are handled either by PDO or on SDO. If using micro on drive then at least the state MUST be mapped to PDO)
The available objects are :
odrive type : PARKER - SBC (HID type 1) :
▪0x2000 0x55 (85) quota capture - pr 85:84 - If mapped to rpdo(control side) associate to AUX 1
▪0x2000 0x5b (91) dig.Inp. + photo status - if mapped to rpdo(control side) associate to INP_W + AUX 0 or to AUX 0.
If one of those on drive (IN0-IN1-IN2) is used as micro of 0 then it MUST be mapped to PDO.
The meaning of the bits is as follows:
•0 Digital input status 0
•1 Digital input status 1
•2 Digital input status 2
•3 Digital input status 3
•4 Digital input status 4
•5 PicoPLC interface warning x Normalized photo management present.
•8 Definition of quota capture source
•9 Quota capture source definition. Together with bit 8 defines the source of the capture:
0=Feedback, 1=Encoder C, 2=Encoder B, 3=Unused
•10 Capture event definition.
•11 Capture event definition. Together with bit 10 defines the event that determines the capture:
0=index EncC, 1=IN0, 2=IN1, 3=IN2.
•12 Defines the edge used for capture when the selected event is IN0, IN1 or IN2:
0=rising edge, 1=descending edge.
•13 -
•14 Handshake managed by control-zero at switch on.
•15 Handshake. On successful capture, the drive sets it to 1
▪0x2000 0x59 (89) command for photo - if mapped to tpdo(control side) associate with AUX 0.
•0 Enable servo error handling from system
•3 Enable servo error control by drive
•8 Source definition quota capture
•9 Quota capture source definition. Together with bit 8 defines the source of the capture:
0=Feedback, 1=Encoder C, 2=Encoder B, 3=Unused
•10 Capture event definition.
•11 Capture event definition. Together with bit 10 defines the event that determines the capture:
0=index EncC, 1=IN0, 2=IN1, 3=IN2.
•12 Defines the edge used for capture when the selected event is IN0, IN1 or IN2:
0=rising edge, 1=descending edge.
•13 -
•14 Handshake managed by control-zero at switch on.
•15 Handshake. It is set to true to enable capture. Upon successful capture, the drive sets b090.15 to true.
oDrive type : PARKER - SBC (SLVD type 1) :
▪0x2000 0x55 (85) quota capture - pr 85:84 - If mapped to rpdo(control side) associate to AUX 1
▪0x2000 0x5b (91) dig.Inp. + photo status - if mapped to rpdo(control side) associate to INP_W + AUX 0 or to AUX 0.
If one of those on drive (IN0-IN1-IN2) is used as micro of 0 then it MUST be mapped to PDO.
The meaning of the bits is as follows:
•0 Digital input status 0
•1 Digital input status 1
•2 Digital input status 2
•3 Digital input status 3
•5 PicoPLC interface warning x Normnalized photo management present.
•8 Definition of quota capture source: 0=Feedback, 1= Encoder In.
•9 -
•10 Capture event definition: 0=index EncC, 1=IN0
•11 -
•12 -
•13 -
•14 Handshake handled by control-zero at switch on.
•15 Handshake. When captured, the drive sets it to 1
▪0x2000 0x59 (89) command for photo - if mapped to tpdo(control side) associate to AUX 0.
•0 Enable servo error handling from system
•3 Enable servo error control by drive
•8 Definition of quota capture source: 0=Feedback, 1= Encoder In
•9 -
•10 Capture event definition: 0=index Encoder In, 1=IN0
•11 -
•12 -
•13 -
•14 Handshake handled by control-zero at switch on.
•15 Handshake. It is set to true to enable capture. Upon successful capture the drive sets to true b090.15
•IMPLEMENTATION
MVA_ZC
Added management of torque change for use of 0 to end of strokes cycle. Applicable only on drive type:
oPARKER - SBC (HID type 1) (5)
oPARKER - SBC (type SLVD 1) (6)
•IMPLEMENTATION
Added management of ideal velocity (IV) output in count/sec on an element of a pdo. This must be associated with "IDEAL SPEED" in the CAN configurator.
•IMPLEMENTATION
MVA_ZC
Added handling of bit 7 to enable (in1) the execution of the cycle of 0 to end of strokes.
The cyclic is as follows:
omoves to the end of strokes with reduced torque (applied where possible).
oonce the mechanical end of strokes is recognized (position error greater than set threshold) we stop.
oif FULL_PRECISION is enabled :
▪you reset the starting torque (applied where possible)
▪you go back to search for the FULL_PRECISION (e.g.channel of 0 of the encoder) which will be taken as the homing point.
▪Once the FULL PRECISION point is reached, the movement is stopped
oif FULL_PRECISION is not enabled.
▪you assume the end of strokes as the homing point
▪you reset the starting torque
▪it still moves by the programmed value
owhen the axis is stopped you set CP = PRESET - deviation from homing position
•This mode uses:
ozcFlag.0 if 1 performs the positive movement to go to the end of strokes
ozcFlag.1 not used
ozcFlag.2 enable/disable FULL precision
ozcFlag.3 1 disable micro use (it is antithesis to end of strokes)
ozcFlag.4 not used
ozcFlag.5 enable/disable maximum stroke control
ozcFlag.6 not used
ozcFlag.7 1
onAx axis number
opreset quota to be set on homing performed
ovelPos must contain the position error (IP-CP) that will be used as a comparison term to consider the axis at end of strokes. In addition to this condition being true, it must also be true that the CV is less than velZc/1000.0
ovelZc handling speed
oacc acceleration
ojerk jerk
ospSch If FULL PRECISION is used, this parameter represents the maximum travelable space
if FULL_PRECISION is not used this parameter represents a minimal clearance away from the end of strokes
ofilter torque reduction value in percent (used where applicable)
•IMPLEMENTATION
Added management of drive type on transducer and on actuator if CAN type.
ocodes currently handled are :
▪PARKER - SBC ( type HID 1 ) (5)
▪PARKER - SBC ( type SLVD 1 ) (6) (slvdn and the like )
oIn addition to the type of drive, the auxiliary parameter 1 is also managed in the transducers, the meaning of which is a function of the drive:
▪PARKER - SBC (HID type 1) (5) the value of auxiliary parameter 1 will be used only if "default"(0) was selected as 'micro index of 0'
•aux = 0 cycle of 0 only on channel/turn resolver
•aux = 1 use as micro of 0 IN0
•aux = 2 use as micro of 0 IN1
•aux = 3 use as micro of 0 IN2
▪PARKER - SBC (SLVD type 1) (6) auxiliary parameter value 1 will be used only if "default"(0) was selected as 'micro index of 0'
•aux = 0 cycle of 0 only on channel/turn resolver
•aux = 1 use as micro of 0 IN0
build2
•CORRECTION
The right channel was not being output on diagnostic 129 CAN (ch)... if using different can handlers (e.g. Can robox net(ch0) and Can 402(ch1)).
•IMPLEMENTATION
MVA_ZC
Added handling of bit 5 to enable(in1) diagnostics on maximum stroke rreached during setup steps. The space used is equal to the difference between the two electronic end of strokes (MAX_STR(n)and MIN_STR(n))
•IMPLEMENTATION
MVA_ZC
Added handling of bit 6 to disable, in the case of monodirectional movement only, the u0 variation search phase
•VARIANT
Added a parameter on alarm '2000 Unable to perform Homing d '
the code has the following meaning :
o1 --> lack of U0 or end of strokes during the first setup phase
o2 --> lack of U0 during the second setup phase
o3 --> cycle 0 not occurred in programmed space in data structs
o4 --> error in hw programming phase for photo execution
o5 --> error from hw for photo execution
o6 --> error in waiting phase of hw for photo execution
o7 --> cycle 0 at end of strokes, problems during torque reduction
o8 --> cycle 0 to end of strokes, problems during torque reposting and lack of end of strokes
o9 --> cycle 0 to end of strokes, problems during torque re-shuffling
•VARIANT
Files having the following structs are accepted as license file names.
oAS302c_ccc_xxxssss.KEY
where
▪c --> a numeric character
▪xxx --> any string or nothing
▪ssssssss --> 8 hexadecimal characters representing the SIGNATURE
oexample of matching names:
▪as3023_999_4c441ac4.lic
▪as3023_999_SN062088_4c441ac4.lic
▪as3023_999_SN062088_Kentron256_4c441ac4.lic
build1
•CORRECTION
Mode of opening the file when using ICHECK block in BCC communication.
•CORRECTION
Enabled on quick monitor buffer of 255 bytes instead of 251
•CORRECTION
On monitor, in case of strings avoided limiting returned data to 128 (changed data offset handling)
build0
•VARIANT
MVA_TO_N_V
Minor change on acceleration time management
•VARIANT
Writings regarding task ladder 27 became "normal" instead of "medium". In directives affecting ladder added handling letter N corresponding to letter M
•CORRECTION
MVA_TO_N_CJ
Eliminated additional problem that caused alarm 9903 using multiple MVA_TO_N_CJ instructions with alternating axes
•IMPLEMENTATION
Handling to have on shell, monitor, and oscilli the logical RPE variables or POWER_SETs. Added functions for compiler
