v3.4u1 to v3.4u2 Change Log (March 5, 2020)

Utility and Installer Changes

  1. The installer will show a warning dialog and then start the RTX installer automatically if the following Windows Updates are not installed to the PC:

    • WMX3 64-bit version and Windows 7 : KB3033929, KB2921916

    • WMX3 32-bit version and Windows 7 : KB3033929

  2. Fixed issue in which part of the installer language file was corrupted from v3.4u1.

  3. In EcConfigurator, if the Alias checkbox in the ENI Editor Tab is checked, an ENI file with alias could be read.

  4. In EcConfigurator, added three buttons to the Advanced Funcs. Tab in order to copy SDO, PDO, Register Read Info (e.g.Index, subindex, size, value, Address, Length…) to SDO, PDO, Register Write Info.

  5. Fixed issue of module detection function of EcConfigurator.

  6. Fixed issue in which an exception occured when a Integrated IO Slave’s Module List is added in the EcConfigurator ENI Editor Tab.

  7. Fixed issue for WMX3 Console utility in which logging could not be started if the IO or UserMemory module is not loaded.

New Functions

  1. Added RecordWindowsUpdates and CompareWindowsUpdates functions for detecting changes to the Windows Updates that are installed to the system. This can be used to warn the user to verify that new Windows Updates are compatible with the real time operating system.

  2. Added “Prevent Catch Up Motion” option to Pitch Error Compensation and 2D Pitch Error Compensation. Enabling this option will prevent the encoder command position from changing when starting pitch error compensation.

  3. Added accumulatedEncoderFeedback CoreMotion status. This is a 64-bit integer accumulated encoder feedback value in pulses.

  4. Added enableTolerance and tolerance parameters to EqualPos, EqualVelocity, and EqualTrq events and trigger motion events. These parameters can be used to change the tolerance for detecting equality of position, velocity, or torque.

  5. Added enableUnsigned parameter to EqualVelocity, GreaterVelocity, LessVelocity, EqualTrq, GreaterTrq, and LessTrq events and trigger motion events. This parameter can be used to specify the velocity or torque as an unsigned value.

  6. Added MotionStartedOverrideReady wait condition type and API buffer condition type. This condition evaluates in the same way as MotionStarted, except it also waits until the axis is in an override ready state. The difference from MotionStarted is that for linear and circular interpolation overrides, this wait condition type waits until the smoothing or blending segment is finished.

  7. Npcap is supported for Windows version (non real time OS version) EcPlatform.

  8. Added home offset support for HM mode.

Specs Changes

  1. Changed error when SetLog, SetIOLog, SetIOLogFormat, SetMLog, and SetMLogFormat functions are called as follows:

    • Error when the function is called while the required modules are not loaded changed from ArgumentIsNull to DataSourceModuleNotLoaded.

    • Error when the function is called with an invalid module ID changed from LengthOutOfRange to ModuleIDOutOfRange

  2. PMMotion API functions have been reorganized.

Bug Fixes

  1. Fixed issue in which the MotionStarted API buffer condition type did not wait for the motion to start if the motion is an override triggered motion.

  2. Fixed issue in which the MotionStarted and MotionStartedOverrideReady wait condition and API buffer condition types did not wait for the motion to start if the motion is a FastBlending or Blending type linear interpolation override triggered motion.

  3. Fixed issue for FastBlending linear interpolation override in which if the Stop function is called before the override profile is generated (this can occur if the linear interpolation override is a trigger motion and the Stop function is called before the trigger condition is satisfied), the axes remained in the Stop operation state after stopping.

  4. Added check to prevent motion for StartPos when the distance to the specified position is the maximum value of 2^38 user units or more.

  5. Fixed typo in module descriptions returned by GetModuleInfo.

  6. Fixed issue in which servo had to be turned on twice for servo on when servoOnFollowingError occurred.

  7. Fixed issue in which the halt state was reset when the servo is turned on, which could cause axes in PV and TQ mode to start to move.

  8. Fixed issue for the Windows version (non real time OS version) in which the communication stopped updating after extended continuous operation.

  9. Fixed issue for ConfigureNIC for the Windows version (non real time OS version) in which the WMX3 definition file (WinTcpIp.ini) sometimes did not generate correctly.

Sample Code Changes

  1. Fixed issue in which the 32-bit build configuration was incorrect for the MotorStop.sln solution file.