Date: 22 December 2010
Os: 13.20.363
RoboxLib: 3.06.0000
Derived from: RTE 33.22.9
Note: suite with >= RDE3.8.3
Note: suite with >= RC3E v33.3.7
Note: suite with >= RPE v1.3.0
build7
• IMPLEMENTATION : DF1 : added handling for extended codes in File Number, Element Number and SubElement number fields.
build6 build5
• IMPLEMENTATION : EXCEPTION : added output in the report of a message the first time an exception is handled by an RRT task.
build4
• IMPLEMENTATION : DF1 : added execution command 6 function 0 (echo) and command 6 function 3 (diagnostic status).
Also added negative response with status equal to 0x2 if the command is not among those handled. These commands allow the "FactoryTalkViewStudio - Machine Edition" program to perform the control connection test.
Remember to select as Serial DF1 SLC or Microligix Properties and then as driver 1761-xxxx xA Micrologix 1000 Discrete
• IMPLEMENTATION : ASCII DIRECTIVES : added syntax SYS:R SYS:RR SYS:SR SYS:NVR SYS:NVRR and SYS:NVSR
build 3
•IMPLEMENTATION : RBUS HIDRIVE added rbus management with also sdo command management for accessing drive parameters using usual objects 0x2000 , 0x2001, 0x2002, 0x2003, 0x2004 and 0x2005
Added interface for photo management:
RBUS1.Box1 (HidriveDP drive).Rx.Photo Control Word
obit .0 enable photo on motor feedback
obit .1 enables photo on continuous mode feedback
obit .4 enables photo on ENC-C
obit .5 enable photo on ENC-C continuous mode
RBUS1.Box1 (HidriveDP drive).Tx.Photo Status Word
obit .0 enable photo on motor feedback
obit .1 at least 1 photo taken on motor feedback
obit .2 photo taken on motor feedback (only one rule scan valid in case of continuous mode)
obit .4 enabled photo on ENC-C
obit .5 at least 1 photo taken on ENC-C
obit .6 photo taken on ENC-C (only one rule scan valid in case of continuous mode)
Use the Hidrive parameter prepositions(Par 164, 165 and possibly par 39) to select on which input to take the photo and on which front.
FEEDBACK
micro |
P164.4 |
P164.3 |
P164.2 |
P164.1 |
P164.0 |
B39.15 |
B39.14 |
|---|---|---|---|---|---|---|---|
ch0 |
0 |
0 |
0 |
0 |
0 |
x |
x |
IN0 R |
0 |
1 |
1 |
0 |
0 |
x |
x |
IN0 F |
0 |
1 |
0 |
0 |
0 |
x |
x |
IN1 R |
1 |
0 |
0 |
0 |
0 |
x |
0 |
IN1 F |
1 |
0 |
0 |
0 |
0 |
x |
1 |
IN2 R |
1 |
0 |
1 |
0 |
0 |
0 |
x |
IN2 F |
1 |
0 |
1 |
0 |
0 |
1 |
x |
ENC-C
micro |
P165.4 |
P165.3 |
P165.2 |
P165.1 |
P165.0 |
B39.15 |
B39.14 |
|---|---|---|---|---|---|---|---|
ch0 |
0 |
0 |
0 |
0 |
1 |
x |
x |
IN0 R |
0 |
1 |
1 |
0 |
1 |
x |
x |
IN0 F |
0 |
1 |
0 |
0 |
1 |
x |
x |
IN1 R |
1 |
0 |
0 |
0 |
1 |
x |
0 |
IN1 F |
1 |
0 |
0 |
0 |
1 |
x |
1 |
IN2 R |
1 |
0 |
1 |
0 |
1 |
0 |
x |
IN2 F |
1 |
0 |
1 |
0 |
1 |
1 |
x |
•IMPLEMENTATION : MVA_OPEN_LOOP : Instruction management added for openloop management :
result = MVA_OPENLOOP (nAx)
This function sets IP = CP. Does not generate crash alarm even if enabled. It sets IV and IA to 0.
build 2
•IMPLEMENTATION : added real RSI RSIR parameters.
•IMPLEMENTATION (OS) : HIDRIVE direct : RBUS management on Parker HIdrive
•IMPLEMENTATION (OS) : Added management of multiple ethernet ports (uRMC^2, CPU P2020 etc..)
build 1
•CORRECTION : TASK RELOAD : Removed error that randomly caused '969 Data Memory Access <B3C0>' alarms.
•CORRECTION : REPORT : report was not being sent if report full (2048/2048) and an element was added between id request and data request
•VARIANT : COMMANDS FILE SYSTEM BCC : Modified file transfer handling to better handle busy resource warning
build 0
•CORRECTION : ECOE/SOE : Properly handled coe and soe keywords when specified as speed or torque reference
•CORRECTION : PROFIBUS : modified logical data exchange management with ProfInt board.
