Date: February 18, 2010
Os: 13.18.850
RoboxLib: 3.04.0000
Derived from: RTE 33.20
Note: suite with >= RDE3.8.0
Note: suite with >= RC3E v33.3.6
Note: suite with >= RPE v1.3.0
build 16
•CORRECTION: Drive Emergency alarms were being generated as if it were a generic node and not a node associated with axes. Error introduced in 33.21.12.
build 15
•CORRECTION: SYS_LOG: Writing parameter bit 0 continuously and repeatedly could have lost the 0 to 1 transition of the parameter (log file creation start command).
•VARIANT : INF_REPORT: enabled the use of 3 bits of REP_MASK mask to specify the report type (so that report color management could be exploited).
•VARIANT : REPORT: put report type encoding in the flags in the 0x00E0 bits of the message:
build 14
•CORRECTION : FIELDBUS TRANSDUCERS : returned effective management of fielbus transducers (CAN/COE) with semi-absolute and non-retentive type detection management.
build12
•IMPLEMENTATION : DRIVE PARKER-SBC MULTIDEVICE : Managed the type of multi-axis drives controlled via EtherCat.
In fact the reference to objects accessed via SDO always have the same value regardless of the channel in question.
e.g. assuming a 3-channel TPDM with RID (Robox station ID) 4, 5 and 6 to read the status word with SDO the following commands can be used:
ostatus word Drive rid 4 : CO_ROBJ 4 0x6041 0
ostatus word Drive rid 5 : CO_ROBJ 5 0x6041 0 or CO_ROBJ 5 0x6841
ostatus word Drive rid 6 : CO_ROBJ 6 0x6041 0 or CO_ROBJ 6 0x7041
Note: It turns out that it is then possible to use the SBCDRIVE command from the shell.
Also:
oAdded emergency description of the ethercat interface.
oAdded possibility to cycle 0 even without mapping the command and read photo auxes in the pdo. The only limitation is sequential execution of cycles of 0 (if you want parallel then it is mandatory to use the auxes connected to the pdo's).
oAdded possibility to execute cycles of 0 to end of strokes also for second and third channel even if only 1 at a time (not simultaneously).
•IMPLEMENTATION: BCC ALARMS: added management of sending alarm data in extended mode over BCC3 protocol.
•CORRECTION: ALARMS: avoided generating duplicate alarm message in the report in case of resetting a system alarm with the same text
•VARIANT: ALARMS:
Replaced CAN text with RFB (Realtime FieldBus (CAN, Ethercat, Sercos)) text in the following alarms:18, 19, 80, 81
•IMPLEMENTATION: F_READ_TABLE_S
Instruction F_READ_TABLE_S added.
•FIX: BCC3 ALARM HISTORY
Corrected BCC3 command so as to avoid mistakenly sending a pre-existing alarm in the case of newly cleared alarm history
•FIX: F_READ_TABLE
In case RR or NVRR registers are used as destination added check that it does not overflow from them.
build11
•IMPLEMENTATION: C402_START_AL_FT
Real parameter in which to specify the filter time of fieldbus related alarms at switch on.
•IMPLEMENTATION : BCC3
On BCC alarmList command added handling for check ID stack alarms
•FIX : BCC3
On BCC command folderCreate and FolderDelete :
when using 'recursive directory' flag given negative response as illegal argument
build10
•IMPLEMENTATION: Added read-only parameter ENABLED_AX pi[83] that contains the axis mask whose power set is in power and axis is enabled.
•CORRECTION: ALARM 9900: If the error is in an LD task the step number now contains the rung number where the error occurred. Unfortunately, however, the information is not sufficient to uniquely identify the rung.
build9
•IMPLEMENTATION: POWER SET
Added management of a TOF delay timer on the global outputs of the power set configurable from the "enable" tab of the powerset window. It is in addition to any delays set on the power drop due to lack of feedback or alarms.
•VARIANT: BCC3 : Aligned with RDE3.7.4 for handling ram file loading.
•CORRECTION: MVA_ZC: In the 0 to strokes cycle, on reaching the end of strokes more time is waited before resetting the tracking alarm mask(SAM).
build8
•IMPLEMENTATION (OS):
Speeded up initial phase of reading "*.CFGX" file of EtherCAT network description (code 33)
build7
•IMPLEMENTATION (OS): CO_WSDIAGNO
Added bit 0x20000000
build6
•FIX: SDO_ETHERCAT
Removed block on timeout error on response using bcc commands for read/write objects via SDO
build5
•FIX: CO_RNMT, CO_WNMT, CO_WSDIAGNO, CO_STATE_MAC
Fixed bcc command execution in case of access with a RID (Robox Station ID) greater than the maximum present in configuration
build4
•IMPLEMENTATION (OS): SDO ETHERCAT
Added possibility of using SDO also in rules
build3
•VARIANT: FIELDBUS TRANSDUCER INITIALIZATION (canopen).
Waiting for device (drive) to return valid quotas before checking possibility to take quota photos
build2
•IMPLEMENTATION: FIELDBUS (CanOpen) SEMIASSOLUTE quotas.
Added management of fieldbus transducers whose significant quota in bits is less than the bits of information itself. The indicated bit component is used only in initialization to determine the initial position (whether the quota is retentive or not)
added in the TRD definition the keyword SEMInbit.
•VARIANT: MAX_D_RAW
In the case of fieldbus transducers (canopen), the initialization value is imposed equal to a quarter of the number of bits of the absolute component
•CORRECTION: UNUSED AXES
Improved handling of axes of which no kinematic unit was imposed and the number of declared axes was less than the translators
build1
•IMPLEMENTATION/CREATION: FIELDBUS (CanOpen) INCREMENTAL RETENTIONAL QUOTAS.
Corrected retentive quota handling for fieldbus axes (canopen) with incremental type translator. Added in TRD definition keyword INC.
build0
•VARIANT: ALARMS
Changed powerset type alarms bit from 0x10 (used by RPE) to 0X40(AH_FILTER).
