v3.6u1 to v3.6u2 Change Log (April 17, 2025)

Version update by module

Module

Previous version

Latest version

CoreMotion

3.6.0.1

3.6.1.0

Log

3.6.0.1

3.6.0.2

ApiBuffer

3.6.0.1

3.6.0.2

CyclicBuffer

3.6.0.1

3.6.0.2

IO

3.6.0.1

3.6.0.2

Event

3.6.0.1

3.6.0.2

UserMemory

3.6.0.1

3.6.0.2

AdvancedMotion

3.6.0.1

3.6.0.1

M4Platform

3.6.0.1

3.6.1.0

EcPlatform

3.6.1.0

3.6.2.0

New Functions

  1. Added Sync LS feature to Sync Parameters.

  2. Added ServoOff option to FollowingErrorAlarmType and VelocityFollowingErrorAlarmType.

  3. Added ampError and allServoOn to SyncGroupStatus. Please refer to Sync Group for further detail.

  4. Added allowAmpErrorServoOn to SyncGroup. Please refer to Sync Group for further detail.

  5. Python libraries now support Python 3.11. Python libraries are now installed in a folder for each Python version.

  6. In CCLinkPlatform, RTIGC series has been added to the list of supported NICs. See Supported NIC for details.

Specs Changes

  1. The calculation algorithm of AbsoluteEncoderHomeOffset has been changed. It has been changed from subsituting latched values such as ZPulse, HS, LS, etc. to reverse-calculating the offset value that establishes the relationship between the current command position and the command encoder.

  2. The algorithm for the ConstantDec profile has been updated. For more details, please refer to the Constant Deceleration section.

  3. In EcPlatform, when UserDef=1, the slave list is now built as defined in ec_network.def. The slave ID and slave order defined by the user will always be applied to EcMasterInfo. With regard to this change, The HaltOnNetworkDiff parameter has been removed and SetSlaveViewMode is added.

  4. In EcPlatform, a timeout period can now be specified for FoEWrite functions that do not specify a callback function.

  5. Supported NICs in RtIPCH_SSS.rtdll have been updated. I219 from LM14/V14 to LM19/V19 are newly supported. Some NICs are no longer supported.

  6. On M4Platform, changed the statistic data from ratio to count.

Bug Fixes

  1. Fixed a problem where the limit switch of the slave cannot be used for homing purpose when performing Sync Homing.

  2. Fixed an issue where the slave followed the master’s command position at the time of desynchronization even when the Slave Desync Type parameter was not No Action.

  3. Fixed an issue where calling the StopPos function on a slave axis in ECAM mode would cause the ECAM mode to be disabled.

  4. Resolved an issue where the SimulatePos function for Parabolic or Sine type profiles returned incorrect time-related results (AccelerationTimeMilliseconds, CruiseTimeMilliseconds, DecelerationTimeMilliseconds).

  5. Fixed an issue where changing the gear ratio and AbsoluteEncoderHomeOffset simultaneously for an axis in AbsoluteEncoderMode caused a discrepancy equal to the FollowingError between the commanded position and the commanded encoder.

  6. Resolved an issue where calling the OverrideVel function with a negative speed on an axis performing a JogCommand returned an error code (VelocityArgumentOutOfRange).

  7. Fixed a calculation issue with the dist***ToMaster***(ZPulse, LS, HS) parameter in the CoreMotion module. When the gear ratio of the master and slave axes differed, calculations were based on the master axis gear ratio, rendering the parameter invalid.

  8. Resolved an issue where the AbsoluteEncoderHomeOffset for a slave axis in AbsoluteEncoderMode could be updated with invalid values during the gantry homing process. This issue occurred when gantryHomingUseSlave*(HS, LS, ZPulse, etc.) was not enabled or when the slave axis moved due to HomeShiftDistance. Refer to Specification Change 1 for details.

  9. Fixed an issue where motion with the ConstantDec profile could cause the OperationState to remain in Pos for an excessively long time during movement. Refer to Specification Change 2 for details.

  10. Fixed an issue where triggered command mode changing functions (such as StartPosToRampTimeTrq) does not work if ModeOfOperationDisplay(0x6061) is not included in the ENI file.

  11. Several functions that were not working in the Python library have been fixed. (Formerly SetEvent() function, GetStdOutStr() function, etc.)

  12. On M4Platform, stability and performance improvements have been made. RtIGB or RtIGC network cards are recommended.

  13. Fixed an issue where incorrect process of the sdo segment command specifier cuased error in the sdo upload response.

Manual Update

  1. Added Sync LS use case example on Desync Handling page.

  2. Added caution regarding the use of Wait functions for slave axes on Overview page.

  3. The algorithm for the Constant Deceleration profile has been updated.

  4. A detailed explanation of the specifications related to OverTravel has been added.

  5. UserDef description in EcPlatform has been updated.

  6. Some information has been added to Supported Library and IDE page.

  7. Some information regarding Windows Memory integrity security feature has been added to RTX Configuration 2 - Critical System Settings