Date: 01 July 2010
Os: 13.19.1028
RoboxLib: 3.05.0000
Derived from: RTE 33.21
Note: suite with >= RDE3.8.3
Note: suite with >= RC3E v33.3.7
Note: suite with >= RPE v1.3.3
build 10
•IMPLEMENTATION(OS) : REPORT : expanded to 2048 entries
•CORRECTION(OS) : EtherCAT : Ethercat cable reconnection management - feature no longer operational in 33.22.9
•VARIATION(OS) : EtherCAT : reduced rule extension time to the bare minimum in case of Ethernet cable disconnection on the robox control side.
build 9
•IMPLEMENTATION(OS) : SDO to EtherCAT SoE devices.
Changed the meaning for of sub index when communicating via SDO to SoE type devices.
•CORRECTION: MVA_TO_N
In the case of HOLD, the code M_REACHED nwas being erroneously output when HOLD was set until the axes were stopped.
•CORRECTION: BCC MONITOR LIST
0 was always being returned as the number of monitors/oscilloscopes present on commands.
•FIX: TASK RELOAD
Improved handling of task_reload function(see live changes)
build 8
•IMPLEMENTATION: SYS_FLAG
Added bit .12 (0x1000) to enable warning in report of each message sent in serial
•FIX: TASK RELOAD
Strengthened in-memory loading especially reloading tasks that make use of OB (direct or indirect)(see live changes)
build 7
• IMPLEMENTATION: OVERRIDE.CFG
Management of the /FA/OVERRIDE.CFG file.
• IMPLEMENTATION: ETH_INFO
Added directive (device command) to display the status of an Ethernet channel.
•IMPLEMENTATION: SER_INFO
Added directive (device command) to display serial channel status.
build 6 build 5 build 4
• FIX: SERIALS
Auto error correction on read in case of errors.
• IMPLEMENTATION: SOE
Added EtherCAT SoE (Servodrive Over EtherCAT) transducer and actuator type management.
build 3
• IMPLEMENTATION: MVA_ZC
Added management of bit 0x1000 (bit.12). It is used only for cycle of 0 to end of strokes.
• CORRECTION: MVA_ZC at end of strokes.
Used as return speed in end of strokes the one defined in stru_mvzc.velZC instead of stru_mvzc.velPos used in the other operational modes.
build 2
• CORRECTION: MVA_ZC to end of strokes.
Fixed error on axis test "on end of strokes" based on real speed
• VARIANT: HIDRIVE COE
Added specific handling as EtherCAT (coe).
• VARIANT: POWER SET-FAULT RESET
Previously the fault reset command from PowerSet was generated only when at least one AM bit was reset.
So if there were multiple alarms in the stack that used the same AM bit the alarm reset on powerset was generated only when the last alarm in the stack was cleared.
Now the alarm reset on powerset is generated as with each reset command.
• FIX: FLOAD RAM DISK
Also updated the last access time for a file loaded in ram disk
build 1
• FIX: F_READ_TABLE
Fixed error introduced in version 33.21.12 that caused in file not to be read if relying on local variables
build 0
• FIX: R RR SR
Removed limit on number of volatile registers to 65535
• IMPLEMENTATION: SER_MOD
Managed code 18 to have ASCII-LF type communication without handshaking
• VARIANT: SERIAL INSTRUCTIONS
Changed diagnostic if using serial instructions with the number of a non-existing serial. Previously ILLEGAL FUNCTION alarm was generated now ILLEGAL ARGUMENT alarm is generated.
• VARIANT: CO_PAR_DOWNLOAD
Automatically disabled communication alarms during download in case a NMT status other than operational is imposed
• CORRECTION: serial
Improved handling of serials above number 4 - now serials with number from 1 to 31 are manageable
• VARIANT: CO_PAR_UPLOAD
The stored value is now imposed in the generated dcf file with the data type specified in the eds file and not with the value actually received from SDO
