Date: October 18, 2007
Os: 13.8.109
RoboxLib: 3.2.0
Bios: 1.3.0
Derived from: RTE 33.5.5
Note: suite with >= RDE3.4.8
Note: suite with >= RC3E v33.1.17
build2
•CORRECTION(os)
Remedied quota unwrapping problems on can axes
•CORRECTION(os)
Remedied calculation problems (e.g., filterlp, inaccuracies...) found on 33.5.5
•VARIANT(os)
Virtual management of bios entries.
build1
•IMPLEMENTATION
Added management of power set variables :
oPAM mask physical axes
oLAM mask logical axes
build0
•IMPLEMENTATION
Added handling of axes not present. These are ignored by the RTE handler (do not work but do not generate alarm).
It is possible to define them via configurator or using the file "/fa/not_present_axes.def".
The first value (other than comment lines is taken as the value)
Example file:
; machine definition file
0xF0
; in this machine there are no axes 5, 6, 7 and 8
•VARIANT
Changed the way of counting the licensed axes, which no longer have to be contiguous but can be scattered among the 32 possible ones as long as the number of those defined and present is less than or equal to the number of axes provided by the license
•IMPLEMENTATION
New parameters
oDEF_TRD pi(68) number of transducers defined
oMASK_DEF_TRD pi(69) mask of the defined transducers
oDEF_AX pi(70) number of references defined
oMASK_DEF_AX pi(71) mask of the defined references
oMASK_NOP_AX pi(72) mask of declared axes not present
•IMPLEMENTATION
Managing photos per cycle of 0 and capturing photos per Sinamics drive interfaced with CANSIN board - drive code 10
Note: The possible codes to be entered in the transducer auxiliary parameter (in configuration) for use of cycle of 0 are :
o1 -:- 16 --> photo sw or hw(depends on input channel) on specified input
o-10 -11 -12 -14 -15 -16 --> photo hw on specified input
•IMPLEMENTATION
Specific report information for emergency messages from Sinamics drives interfaced with CANSIN board - drive code 10
•VARIANTS
Eliminated illegal axis diagnostic generation based on number of lawful axes on AXES_CAN in RTE.CFG
•VARIANTS
POS_CAPTURE_CMD
Enabled handling also for drivers connected via CANSIN and changed meaning to parameters the new meanings are :
oreturns :
▪< 0 error code
▪-1 photo Hw not executable or error at start photo or continuous mode on supported
▪-2 photo already running
▪-6 illegal axis number
▪= 0 capture disabled
▪> 0 photoId
onAx axis number
omicro
▪depending on the device you have
enc_inc 0 --> channel of 0 only
enc_inc 1 --> micro of 0 associated plus channel of 0
enc_inc <0 -> disable capture
CAN402 PARKER - SBC (HID type 1) 0 --> immediate photo of 'resolver lap start or photo on channel
CAN402 PARKER - SBC (type HID 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 (type HID 1) <0 -> disable capture
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
CAN402 PARKER - SBC (type SLVD 1) <0 --> disable capture
CAN402 CANSIN - SINAMICS 0 -> immediate photo of resolver lap start or photo on channel
CAN402 CANSIN - SINAMICS 1 -:- 16 --> photo sw on specified input (latency 1 mSec)
CAN402 CANSIN - SINAMICS -10 -11 -12 -14 -15 -16 --> photo hw on specified input
CAN402 CANSIN - SINAMICS negative values other than those listed above -> disable capture
obit flags
▪bit 0 1 rising edge (if provided by Hw)(used where applicable)
▪bit 0 0 falling edge (if provided by Hw)
▪bit 1 1 continuous capture (if provided by Hw)(used where applicable)
▪bit 2 1 disable capture
POS_CAPTURE_STS
In the case of continuous capture, the warning of photo taken is given only once with each photo taken.
