v3.3u5 to v3.3u6 Change Log (June 24, 2019)

Utility and Installer Changes

  1. Fixed the following issues in EcConfigurator:

    • Fixed the problem that PDO might not be loaded correctly when loading ENI file.

    • Fixed the problem that PDO support information is not updated even if the axis number selection is changed.

    • Fixed the display problem.

  2. Fixed the following issues in ProfileAnalyzer:

    • Fixed the problem that logging can not start if the CoreMotion module is not loaded.

    • Fixed the problem that graph settings are all cleared in one logging.

  3. In the ProfileAnalyzer, changed the specification so that Smoothing and Thickness settings are reflected immediately when changing, not after selecting the “Set” button.

  4. Fixed the following issues in the installer:

    • Fixed the problem that the error dialog continues to be output when started on a PC with only Visual Studio 2010 installed.

    • Fixed the problem that an error dialog may be hidden behind when WMX3 installation fails.

New Functions

  1. Added support for RemainingTime and CompletedTime event inputs to all four spline types.

  2. Added support for ProfileTotalTime and ProfileRemainingTime statuses to spline types other than Profile spline. (Profile splines already supported these statuses.)

  3. Added OverridePathIntplVelocityMultiplier and OverridePathIntpl3DVelocityMultiplier functions to override the velocity of an executing path interpolation in the range 0~2x.

Bug Fixes

  1. Fixed spline issue in which the axis moved one cycle beyond the stop position when calling the Stop function on a spline command.

  2. Fixed issue for Blending type linear interpolation in which if an axis specified for the override is in the Idle state, the axis could suddenly move to an incorrect position when executing the override.

  3. Fixed timing issue for Blending type linear interpolation override in which if the override linear interpolation takes a shorter time than the current linear interpolation, there was a possibility that the override started immediately instead of waiting until the timing at which both interpolations finish at the same time.

  4. Fixed path interpolation and 3D path interpolation issue caused by v3.3 Update 3 in which the axis suddenly stopped before reaching the target position if the path interpolation is paused and resumed with the Pause and Resume functions.

  5. Fixed path interpolation and 3D path interpolation issue in which Pause segments did not wait for the correct amount of time if the path interpolation is paused and resumed with the Pause and Resume functions.

  6. Fixed path interpolation and 3D path interpolation issue in which the Immediate type outputs did not trigger at the correct time if the path interpolation is paused and resumed with the Pause and Resume functions.

  7. Fixed issue in which the ResourceInUse error was sometimes returned when starting path interpolation with look ahead for multiple channels at once from multiple threads.

  8. Fixed compensation issue in which the encoder command position and the normal feedback position became incorrect (twice the compensation amount was applied) for 1 cycle when disabling pitch error compensation, 2D pitch error compensation, or backlash compensation.

  9. Fixed pitch error compensation and 2D pitch error compensation issue in which if the pitch error compensation is disabled during the catch up motion, the axis suddenly moved to the end position of the catch up motion before disabling pitch error compensation.

  10. Fixed issue in which the invert argument of the EnableEvent event output did not work after v3.3.

  11. Fixed issue in which the MotionComplete status was set to 0 when executing certain commands, such as position commands, with the target position equal to the current position.