Date: 22 November 2007
Os: 13.9.131
RoboxLib: 3.2.0
Derived from: RTE 33.6.2
Note: suite with >= RDE3.4.8
Note: suite with >= RC3E v33.1.17
build0
•IMPLEMENTATION
POS_CAPTURE_CMD
Added bits to flags
obit flags
▪bit 31 enables use of u0 + channel of 0 of encoder (if provided by Hw)(used where applicable)
•CORRECTION(OS)
VISTA
First version usable for ethernet connections with PCs running OS VISTA.
•CORRECTION
DF1
Avoided programming the serial channel as DF1 in case of configurations error.
If the operator panel communicated, alarm "956 Undefined Opcode <SnDB>" (n = serial number) occurred.
•IMPLEMENTATION
SYS_LOG
Added management to make a system log:
The creation of the system log is controlled via the SYS_LOG parameter. The log file is created on explicit command, is called "SYSTEM_LOG.TXT" and is written to the directory "/LOG/"
The bits of the SYS_LOG parameter have the following meaning.
o(B0) command to create the log file, reset to zero anyway at the end of the operation.
o(B1) file writing in progress (handled by RTE).
o(B2) aborted operation (handled by RTE)
o(B3) abort request (handled by user)
o(B7) maintain previous log file (file is renamed by adding the date and time it was created). The removal of files from the compact flash is then the responsibility of the user.
o(B8) select in log list version of sw present on control.
o(B9) select in log list user programs loaded on control (RDIR)
o(B10) selection in log report of Os
o(B11) selection in log report of RTE
o(B12) selection in log report of Os/RTE sorted by time
o(B13) selection in log stack of alarms (only alarms present)
o(B14) selection in log of alarm history.
o(B15) execution of batch file "/LOG/userlog.stp". Only visualization commands will be entered in the log file.
o(B16) execution of all bacth files present in the directory "/LOG/STP/"
•IMPLEMENTATION
Directives
Added directives
oD INP ...
oD INP_W ...
oD OUT ...
oD OUT_W ...
•IMPLEMENTATION
BCC
Handling of ALN and ALS as predefined variables
•IMPLEMENTATION
MVA_ZC
Added cycle type of 0 : on position (the current position of the 'axis becomes the preset value).
In addition to imposing CP = preset also sets the cycle bit 0 done
Management is enabled by bit 0x100 (bit.8) (in 1 enable).
It is obviously incompatible with the selection of the other types of 0 cycles.
•IMPLEMENTATION
MVA_ZC
Added handling post execution of the actual 0 cycle :
handling at the preset quota. Handling is enabled by mediating bit 0x200 (bit.9). This is only allowed if monodirectional cycle type is not selected. You use the search speed
movement within the end of strokes. Handling is enabled by mediating bit 0x400 (bit.10). In case the zero cycle occurs outside the end of strokes, the axis moves in the direction of the nearest electronic stroke until the real quota inside the end of strokes, then the axis is stopped. The initial positioning speed is used.
•IMPLEMENTATION
MVA_ZC
Cycle execution of 0 to mechanical end of strokes with torque reductions using Sinamics drives interfaced with CANSIN board - drive code 10
•CORRECTION
RTE.CFG
Issued diagnostic if the same can axis is assigned to multiple axes
•IMPLEMENTATION(OS)
uRMC PROFIBUS
Enabled functionality, if not used use keyword UNUSED in rhw.cfg
•IMPLEMENTATION(OS)
uRMC
Enable all functionality for encoder
