Date: June 26, 2008
OS: 13.12.107
RoboxLib: 3.4.0
Derived from: RTE 33.10.00
RDE >= 3.5.00
RC3E >= 33.2.04
•IMPLEMENTATION
Added support for Object Blocks.
•IMPLEMENTATION.
Added information on REPORT for EMGY 0xFF11 for SBC-PARKER drives.
•IMPLEMENTATION
Added runtime diagnostics on OBs. In alarms involving visualization of tasks where malfunction occurred (9900 etc...) added as task number 50 + OB tracking number (1-:-4) and as step number the tracking index.
•IMPLEMENTATION
Added predefined variable IP_WRITE_BOUNDS.
•IMPLEMENTATION
Added instruction SET_KINEMATICS.
•IMPLEMENTATION
Added in the license.lic file present in the /key/ folder of the CF the enablement to object Block <OB EXECUTOR>.
By default the use of library OBs provided by Robox is enabled. You must have a valid license to create OBs yourself.
•IMPLEMENTATION
Added the keyword in RTE.CFG COND_LOAD_WITH_ADV.
•IMPLEMENTATION
Implemented "OB" device command to get information about Object Block instances.
•IMPLEMENTATION
Implemented device command "AF" to get information about active functions.
•IMPLEMENTATION
The maximum one-line size of the RTE.CFG file has been extended to 1024 bytes.
•IMPLEMENTATION
Profibus Dp slave: when using uRMC AS1017.001 motion control, an alarm is generated if the keyword PROFIBUS_ADDRESS is not present in the PFB.CFG file. A message in report is issued and alarm 9200 with code 15 is generated.
•IMPLEMENTATION
OB: \" characters are accepted in OB initialization strings and are translated into ".
•IMPLEMENTATION.
ALARMS: in alarms involving visualization of tasks, warning of being running on OB functions attached to OS tracking has also been added. As task number appears 50 + tracking number (1-:-4) and as step number the tracking index.
•IMPLEMENTATION
LANGUAGE: added parameter PI[74] as LANGUAGE of type readonly, this is written once at switch on with a dedicated command in step 0 present in RTE.CFG (LANGUAGE vv)
•IMPLEMENTATION
SYS_LOG: Added the following bits:
o(0x00040000) (B18) OB information.
o(0x00080000) (B19) information about functions attached to tracking (AF)
•IMPLEMENTATION
OB: ASCII directive to get information about loaded, instantiated OBs and any occurrences
•IMPLEMENTATION
AF: ASCII directive to have information regarding functions "Attached to tracking"
•IMPLEMENTATION
RTE.CFG: Accepted phase 20 commands (typically to perform LOAD task loading)
•CORRECTION
MONITOR/OSCILLOSCOPE: corrected error that was generated when the maximum number of programmable oscilloscopes or monitors was reached
•CORRECTION
Effective visualization of all processes (proclist)
•CORRECTION
(OS) Optimized mRMC add-on board initialization (AS1017.001)
•CORRECTION
(OS) Eliminated undefined opcode alarm cause that could occur when initialization of a CAN channel did not terminate correctly.
•VARIANT
(OS) Added storage/visualization of TASK descriptive information.
•VARIANT
Added new report command structs for RDE use.
•VARIANT
(OS) Optimized wakeup handling of TCP message queue management task.
•VARIANT
Using
•the MVA_JOG instruction if both the CAM_AFTER_C0 and CAM keywords are active, the latter will be honored only when the zero cycle is finished.
•VARIANT
Avoided sending the monitor of a task ladder to time-out if it is started before its execution in ram.
•VARIANT
MVA_ZC: "ILLEGAL ARGS" alarm with code 12 is generated if the photo cannot be taken from the device e.g. micro-only zero cycle on CAN device where the photo management object is not mapped. Previously the same alarm was always generated but with code 9.
•VARIANT
F_READ and F_WRITE: management of read/write of large amounts of data avoiding generating timing alarm and avoiding blocking the evolution of other tasks.
•VARIANT
Added alarm "992 Illegal reference definition in RTE.CFG". Previously even in case of error on reference alarm 984 was issued.
•VARIANT
SYSINFO shell command: improved HW model information.
•VARIANT
New keywords for rte.cfg file SYS_ALARM_FILE and USER_ALARM_FILE:
Their setting is done from the project configurator settings-->general-->alarms tab "user file"
oPossibility to specify the language of the file with the option -L vv (vv language code). The default value is: 'Neutral'
oPossibility to specify multiple files (with the different languages or with the same one). Files will be loaded in the order of specification. Obviously, only files that match the selected language will be loaded. If the selected language is other than neutral the files with matching language will be loaded. If this file is absent the neutral one will be loaded, if it is not present either the first one will be loaded.
oIf an alarm is already present it will be overwritten.
