Date: September 18, 2007
Os: 13.7.42
RoboxLib: 3.1.0
Bios: 1.2.2
Derived from: RTE 33.4.3 synchronous to 32.9.0
Note: suite with >= RDE3.4.6
Note: suite with >= RC3E v33.1.14
build5
•IMPLEMENTATION :
Added CAM_AFTER_C0 -mask axes parameter to enable crash handling only after executing cycle 0 (C0_DONE)
•CORRECTION :
In case of configuration error of a can channel or its absence, initial diagnostics were not issued on subsequent channels and especially associations to registers did not work
•IMPLEMENTATION :
Added management of can commands on BCC
•IMPLEMENTATION :
New parameter BAD_CONFIG in which failures of various configurators are stored
o0x000001 .LIC license file.
o0x000002 anbient configurator RTE.CFG
o0x000004 hardware configurator RHW.CFG
o0x000008 configurator Can 301/401/402 COCn.CFG
o0x000010 Profibus DP slave configurator PFB.CFG
o0x000020 Device Net configurator DNSx.CFG
o0x000040 CAN intermodule configurator RBXCNET.CFG
o0x000080 configurator DF1.CFG
•IMPLEMENTATION :
Added LD led management (present on uRMC) as output 5 (outw(1).4).
Displays flashing codes related to failed configurations (see BAD_CONFIG))
In the case of multiple bits present in the BAD_CONFIG parameter, however, only the most priority code is output.
o1 license file .LIC
o2 anbient configurator RTE.CFG
o3 hardware configurator RHW.CFG
o4 configurator Can 301/401/402 COCn.CFG
o5 Profibus DP slave configurator PFB.CFG
o6 Device Net configurator DNSx.CFG
o7 configurator CAN intermodule RBXCNET.CFG
o8 configurator DF1.CFG
the functionality can be disabled with the DIS_DISPLAY parameter with bit 0x000010
build4
•CORRECTION(OS) :
Actual output per channel defined as enable power.
build3
•CORRECTION :
Photo position on interrupt for positions detected via CAN
•VARIANT :
EPOS variable is always updated by handler (either using implicit or explicit ring closure) :
oEPOS(n) = P_IP(n, IPP_IDX(n)) - CP(n)
the possibility for the user to override it remains valid.
•CORRECTION :
Reactivated functionality of the variable SYNCH_TIME.
•CORRECTION :
Avoided generating Speed and Accel. alarm at switch on (if alarms enabled by configurator)
•CORRECTION :
Added diagnostic on writing parameters "read only" from BCC
•CORRECTION :
Problem with strings being too long using READ_TABLE instruction.
•CORRECTION :
Problem with comment strings being too long in various configuration files.
(Changed fgets_ram handling that guarantees reading a string up (regardless of destination buffer) )
•IMPLEMENTATION (OS):
uRMC handling
•IMPLEMENTATION:
Added commands for Alarms handling from BCC
build2
•VARIANT:
Removed on PROFINT_STATUS the management of bits 16 and 17.
Added on SYS_FLAG the two bits.
o(B8) 0x00000100 enables, by diagnostic, reporting of profibus buffers output from ROBOX - self-canceling
o(B9) 0x00000200 enables, for diagnostic purposes, the report of progibus buffers input to ROBOX - self-canceling
build1
•IMPLEMENTATION: on LADDER.
Added management of logical variables in ladder
•IMPLEMENTATION: on POWER_SET
Added two bits on PS_STATUS:
o0x200 we have all axis enable feedback on power_Set
o0x400 we have all axis enable feedbacks enabled
•IMPLEMENTATION: on LADDER
Implementation management apt to speed up execution
•CORRECTION: on LADDER
Eliminate possible criticality of access to real parameters
•IMPLEMENTATION: on LADDER
Implementation apt to speed up execution
build0
•CORRECTION(OS):
On HIDRIVE CPU, output 8 used as enable power now works
•CORRECTION:
Eliminated system alarm problem if in RTE.CFG configurator using keyword ALARM_HISTORY_ITEM with excessive definitions value
•VARIANT: RTE.CFG
Using the keyword ALARM_HISTORY_ITEM with an excessive definitions value, this is limited to the maximum possible and the limitation is reported in the report
•VARIANT:
Response on PV command in case of entity that cannot be forced
•IMPLEMENTATION:
Added the following parameters:
LIC_TRD Number of transducers that can be managed depending on the license
LIC_AXES Number of controlled axes manageable as a function of license
LIC_FLAGS Various functionality imposed as a function of license
o0x000001 Ladder enabled
o0x000002 RPE enabled
o0x000004 HW qualified for use.
o0x000008 analog axis usage enabled
o0x000010 enabled the use of CAN axes
•VARIATION: Increased the upper limit of the rule frequency from 1000Hz to 2000Hz
•IMPLEMENTATION: Added handling of the SYS_FREQ command in rte.cfg.
syntax is : SYS_FREQ freq [-F ]
ofreq : frequency (50 -:- 2000)
o-F : lock frequency
