Date: July 24, 2009
Os: 13.17.1632
RoboxLib: 3.4.0
Derived from: RTE 33.17.7
Note: suite with >= RDE3.7.0
Note: suite with >= RC3E v33.3.2
Note: suite with >= RPE v1.3.0
build8
•IMPLEMENTATION/CORRECTION(OS)
EtherCAT Ethernet communication
build7
•IMPLEMENTATION/CORRECTION(OS)
EtherCAT Ethernet communication - configuration.
•CORRECTION
Eliminated potential causes of undefined opcode.
•CORRECTION
Eliminated initialization problems on Canbus.
build6
•CORRECTION(OS)
Fieldbus Configuration
Inserted OSF with fieldbus configuration fixes via "fb.cfg" file. Association to INP_Ws and OUT_Ws was not working (warning of configuration error in report during OSF boot). Also, writing to the outputs and reading digital inputs did not work in case all those preceding it in the same word were not defined
•VARIANT(OS)
EtherCAT Configuration.
Modified OSF to speed up analysis of the file, in XML format, of EtherCAT-type fieldbus configuration during the boot phase.
•CORRECTION(OS)
Canopen uRMC
In version 33.17.5 can no longer work on uRMC if RSW.CFGX file was present on the flash
build5
•IMPLEMENTATION
POWER_SET AM
Added possibility to specify a bit of AM as global feedback for power set
build4
•VARIANT
POWER_SET UNRESOLVED
The presence of unresolved symbols in any of the user tasks causes the power set to block and on the power set request front it regenerates alarm 801
•VARIANT(OS)
EtherCAT
Improved management (optimized execution routines/timing/priorities)
•VARIANT(OS)
CAN402
Changed maximum frequency limit of CANopen's SYNC from 600 to 1000 Hz.
•VARIANT(OS)
BCC3 monosocket
Added BCC3 monosocket server management. The BCC3 monosocket server is started on TCP port 8100 while the multisocket server, which is compatible to earlier RDE3 versions, remains always listening on TCP port 8000.
•IMPLEMENTATION(OS)
EtherCAT
Added interface to be able to access CoE (Can Over EtherCAT) stations as if they were CAN stations. In this way, the RTE firmware does not "see" the difference between a canonical CAN station and a CAN station via EtherCAT thus being able to take advantage of the same access functions such as, for example, reading and writing SDOs, managing the DS402 state machine, Emergencies generated by the stations, reading translators, actuator setting, reading and writing NMT.
•VARIANT(OS)
IO
Management of INP and OUT variables with EtherCAT in a more direct way
•VARIANT(OS)
RSW
The configuration file "RSW.CFG" has now been named "rsw.cfgx".
•CORRECTION(OS)
RHW.CFG
Fixed the problem that declare in the "RHW.CFG" file the CAN channel "Unused;" i.e., without the space between "Unused" and ";", was being caught as an error resulting in a BadConfig warning.
•VARIANT(OS)
EtherCAT
To configure EtherCAT type fieldbuses now first you look if the file "/fa/ecat1.cfgx" exists. If not present you then look for the file "/fa/ecat1cfg.xml".
•VARIANT(OS)
RBUS
Interface management for generic CiA 402 type drive via RBUS (rack Robox). To configure the bus, you have to put the file "/fa/rbus1.cfgx" in the control compact flash.
•VARIANT(OS)
EtherCAT
In CoE (Can Over EtherCAT) management, modified the ReadNmt() function to make the station presence flag based on the "GetLinkError()" warning returned by the master EtherCAT interface. In this way, it should no longer be necessary to test from application R the global variable "DevState" bit "0" to know if the Ethernet cable is connected or not.
•CORRECTION(OS)
RHW.CFG
In case one, or more, CAN line was configured on uRbxm (with appropriate COC file) and no CAN station was connected on the line, OSF would go to "UNDEF-OPCODE" or sometimes there were problems with FAT (e.g., file loading problem)
•CORRECTION(OS)
CAN402
Changed the timing of writing debug information to the report by Service Can.
•IMPLEMENTATION
SYS_FLAG
Added bit
o0x00000800 (B11) enables SER_CTHR calculation even when tracking alarm is disabled
•VARIANT
TFB RC OC
Disabled direct write as variables from shell, ladder, bcc3
•CORRECTION
F_DEL
Fixed file deletion with wild_card
•VARIANT
SERIALS
Honored all serials managed by os/bios
build3
•IMPLEMENTATION
F_RENAME
Added rename instruction that is executed by main
For the use and consumption of ob
•VARIANT
F_OPEN F_CLOSE
Managed execution of these functions from task of main
•IMPLEMENTATION
ABSOLUTE ENCODER
Enabled absolute encoder management for ABS_AXI and ABS_ENC boards.
•IMPLEMENTATION
WATCH_DOG.
In the event that rule execution is detected as taking too long beyond the normal W.D. drop, all higher priority user tasks that may interfere (asynchronous rules, task ladder....) are suspended. User rule execution and the rule handler itself are also suspended (with any synchronous communication blocked).
build2
•IMPLEMENTATION
LADDER
File format management 1.4
•CORRECTION
REPORT
ALARM HISTORY Corrected message output according to id also on unwrapped on U32
•VARIANT
FIELDBUS
Changed execution order on sync(for can/sercos/ethercat)
build1
•CORRECTION
LOV
Possible misinterpretation of names in ladder
build0
•CORRECTION
SER_MOD
Effectively disabled hw handshake check if mode 2 and 17
•IMPLEMENTATION
ALARM_RESET
Speeded up its execution
•IMPLEMENTATION
POWER_SET
Added keyword -POOW bool for the POWER_SET_FLAGS instruction.
Served to be able to go to power if there are only warnings in the alarm stack
•IMPLEMENTATION
TRACKING
Function to track a target in position and speed with maximum velocity and acceleration and movement limits.
Should you want to disable limit tracking impose them equal.
SUMMARY :
TRACKING (sdef)
where:
osdef structs of type STRU_TRACK for exchanging various data
Function result:
oMV_SYNCHRONIZED (8) = target reached - pairwise movement
oMV_FOLLOWING (5) = target not reached - tracking in progress
oMV_SPEED_LIMITED (10) = target not achieved - tracking in progress - speed limitation
oMV_ACCEL_LIMITED (9) = target not met - tracking in progress - acceleration limitation
oMV_DECEL (17) = target not reached - deceleration due to reaching one of two position limits
oMV_REACHED (6) = target not reached - reached one of the two position limits
oMV_OUT_OF_LIMITS (19) = target not reached - attempted further out of position limits
o-6 = acc parameter null
o-5 = maxspeed parameter null
o-9 = delta parameter less than/equal to 0
STRU_TRACK STRUCT DEFINITION
STRUCT stru_track
REAL despos ; desired quota
REAL desspeed ; desired speed
REAL actpos ; current quota
REAL actspeed ; current speed
REAL maxspeed ; maximum speed
REAL acc ; maximum clearance
REAL posmin, ; slave lower end of strokes
REAL posmax, ; slave upper end of strokes
REAL delta ; sampling interval
END_STRUCT
•IMPLEMENTATION
KIN_CONV
Function that calculates the acceleration and jerk values that allow, starting from a standstill, the speed 'vel' to be reached in time 't_acc'.
SUMMARY :
KIN_CONV (vel, t_acc, p_jerk, acc_r, jerk_r)
KIN_CONV (vel, t_acc, p_jerk, acc_r, jerk_r, max_acc)
where:
ovel velocity value to reach starting from 0. Its absolute value [unit/sec] is used
ot_acc time to go from 0 to vel [sec]
op_jerk value between 0 and 1 that determines how much jerk to apply to the acceleration segment:
▪p_jerk = 0 -> abrupt step acceleration (jerk not used)
▪p_jerk = 1 -> smooth triangle acceleration (fully jerked segment - speed ramp to S)
oacc_r variable in which the required acceleration value is written [units/sec^2]
ojerk_r variable in which jerk value needed is written [units/sec^3]
omax_acc [optional] maximum value the acceleration can take. Its absolute value is used
Note: In the case of acceleration limited by max_acc, when possible, the function still tries to guarantee the duration of the acceleration segment t_acc at the expense of the jerk factor p_jerk.
Result of the function:
o0 = all good
o1 = p_jerk parameter not met due to max_acc limitation
o2 = time t_acc not met due to max_acc limitation
o3 = time t_acc and parameter p_jerk not met due to max_acc limitation (in that case) parameter p jerk is taken as if it were 0
o-2 = negative or zero t_acc parameter (t=1 is assumed)
o-3 = parameter p_jerk outside the range [0-1]) (p_jerk is assumed = 0)
•IMPLEMENTATION
RPE
Added support for RPE to be able to use rules for 0 user cycle management.
Added alarm "993 internal error <code>"
"<code>" description
1 --> total rule number (RTE + RPE is greater than 32).
set the bit am[34].2
Added alarm "2804 Wrong rule number <%d> from RPE <%d>"
set bit am[41].4
•VARIANTS
ALARMS
Changed text alarms to.
"18#nax R.ID<id> CAN fault <code>"
"19#nax R.ID<id> CAN emcy <code>"
"80 R.ID<id> CAN fault <code>"
"81 R.ID<id> CAN Emcy <code>"
