Date: 01 October 2009
Os: 13.18.393
RoboxLib: 3.4.0
Derived from: RTE 33.17.8
Note: suite with >= RDE3.7.3
Note: suite with >= RC3E v33.3.4
Note: suite with >= RPE v1.3.0
Note: Changed the size of the retentive zone. Thus causes loss of parameters, logs and alarm history.
build9
•IMPLEMENTATION
Updated messaging for EMCY cansin.
build8
•VARIANT
Transducer alarms are masked from control from switch on to the end of initialization.
•IMPLEMENTATION
Added handling that uses alarm variable parameters as a relevant component to decide if to enter an alarm into the stack and alarm history.(stack_alarms)
•IMPLEMENTATION
Added variable to read-only SIGNATURE.
•IMPLEMENTATION/VARIANT
Diversified diagnostics at shutdown on software reset of control.
Alarm 991 is generated only in case of actual control shutdown.
In case the control is reset due to a BCC command or an ASCII directive, alarm 994 is generated
•IMPLEMENTATION
ASCII directive/device command SWRESET implemented.
build7
•CORRECTION
Corrected axis alarm handling using the same AM bit for system alarms.
•CORRECTION
The bcc message to read alarm history items was missing any axis number in the code.
•IMPLEMENTATION
Changed retentive storage key to ensure loss of retentive zone (due to new data structs).
build6
•IMPLEMENTATION \ VARIANT
Changed the quota retentivity handling for the following transducers :
Fieldbus (CAN402 - COE)
Absolute encoders connected to ROBOX devices via SSI.
Integer registers
The transducer must be declared as retentive on axis configurator and be used in incremental (semi-absolute) mode. Retentivity is then handled at switch on only if the axis bit in parameter C0_DONE is active (in 1). The control will impose the real quota stored at switch on, modified by the variation detected between the rawcp stored at switch off and that detected at switch on.
If the absolute value of the variation is greater than the MAX_D_RAW parameter (API[8]), the alarm is generated:
"40#nAx Retentive Transducer : max movem. exceeed" (AM [1-:-32].0).
The MAX_D_RAW parameter is initialized by default to a value equal to one quarter of the size (in bits) of the rawcp.
Its unit is [tranducer counts].
build5
•IMPLEMENTATION
Added on DF1 communication the function codes A1 and A9
•IMPLEMENTATION
Directive ascii to know the status of wd WD [-v].
•IMPLEMENTATION
Handled task reloading and hot rule(live changes).
•VARIANT
Avoided giving DIFFERENT DATA diagnostics in the REPORTifthe drive is configured as generic
build3
•CORRECTION:
Fixed error on loop of 0 with drive selected cansin
build2
•IMPLEMENTATION:
Handle initialization of absolute and I32 type transducers. They take into account if the unit is of signed or unsigned type.
RAWCP update also with transducers of type I32 registers.
•IMPLEMENTATION
Added warning 9804
•IMPLEMENTATION
Added instruction AS_GET_D
build1
•IMPLEMENTATION
LIVE changes on task R3
build0
•VARIANT
Normalized returns codes on function MV_TO_CJV . Now returns M_ACCEL when adjusting the current speed to the desired speed. Returns M_DECEL when decelerating to the desired position.
•IMPLEMENTATION
added ascii command handling directed to RPE
•IMPLEMENTATION
Implementation detailed Emergency fieldbus alarms (30...39) EMCY_DIAGNOSTIC
•VARIANT
added in the message of alarms 19 and 81 the hexadecimal encoding of the first 4 bytes of the manufacturer specific field
•VARIANT
Added in the report explicit warning of possible missing RPE on the declaration of AXES_GRUOP.
•VARIANT
Added in the REPORT the EMCY reset message (0x0000) from the remote device
•IMPLEMENTATION
Volatile axis parameters. See keyword DIS_AXES_PAR_RE
•IMPLEMENTATION
Added commands for RTE.CFG _IFVS, _ELSEVS, _ENDVS
•VARIANT
Ladder tasks selected with autostart (project configurator, general-->ladder section) still start after performing the control initialization phase
•IMPLEMENTATION
Added read-only parameter STATUS
•IMPLEMENTATION
Added parameter to read-only RTE_VER.
•IMPLEMENTATION
Added VALID_DATA_TRD and VALID_DATA_TO parameter.
•VARIANT
Avoided handling alarms enabled with CAM SAM SPAM ACAM for the first 32 rule runs after all transducers have provided valid information. Imposed Ip = CP when first assuming quota.
•CORRECTION
The "reposition to preset" and "reposition within end of strokes" flags did not work in the MVA_ZC function if cycle 0 of full precision only type was selected.
•IMPLEMENTATION
Added parameter to read-only RAWIP
•VARIANT
Modified handling to allow kbit2unit change without perturbing the world (apart from tracking error)
•VARIANT
Added management of size in bits also for position reference (design configurator axis-->actuator section)
•VARIANT
Added bit size management and unit size type of rawcp. Unit size type only affects the assumption of the first datum.
•VARIANT
In ascii directive/device command DEF_IO assumed numbers specified as word number instead of bytes
•IMPLEMENTATION
access to hw variables of type U64/I64 for BCC communication.
