The new version of Orchestra Control Engine has been released and is ready to download.
ORCHESTRA CONTROL ENGINE v2.0 - Release notes
MAJOR IMPROVEMENTS
FRAMEWORK
RTOS:
* the same as Orchestra v1.5-2.
HostSupervisor:
* changed UDP/TCP protocols;
* shared folders workgroup changed from MSHOME to ORCHESTRA;
* added communication protocol HTML documentation;
* configOrchestraNetwork script improved;
* OrchestraRTOS script: RTAI NetRPC kernel module now not loaded at boot.
Conf:
* safe-scheduling-RTIF-threshold parameter added to Core entities.
Core:
* downsampling of CT_LOG_SIGNALS datagrams implemented;
* implemented text and binary disk log of module signals;
* added CoreRTIF library;
* added system diagnostics;
* added HTML documentation of ACT communication protocol;
* ACT more robust against bad TCP clients;
* signals buffer size added as command line parameter.
RTM:
* support for running project in debug mode;
* added interaction with Core;
* added interaction with Interpreter;
* support for event-tasked function blocks;
* online monitoring of pous status;
* added system diagnostics;
* handled DLP online change without cycles missing;
* tasked function blocks now called without enabling them;
* support for binding input/output variables of programs to I/O devices;
* handled reset of input/output/local variables of functions.
MOTION CONTROL
Cartesian Interpolation Modules:
* added helical/conical/spiral interpolation laws;
* added override management during a move;
* updated diagnostic messages;
* added check on max circle servo error.
Bspline and NURBS Interpolation Modules:
* added override management during a move.
CNC Modules:
* added Gantry module for gantry machine configuration management;
* updated Zero module for gantry axes initialization;
* modified modules interfaces for 9 axes management (6 master + 3 slave in gantry configuration);
* added ChannelInterface, ChannelsMux, ChannelsDemux modules for multi-channel functionality;
* added ActualVelocityInterface module that evaluates current drives velocity;
* modified MotionSupervisor module to send state information to the PLC and to manage alarm/reset events;
* modified MotionSupervisorInterface module to allow parameters writing from HMI and PLC;
* updated diagnostic messages.
Compensation Modules:
* added modules for machining head kinematics and 3D tool shape compensation:
Compensation3D, DynamicToolLength, RotatingToolCenterPoint modules (already published in Orchestra v1.5-1).
Interpreter:
* added support to RTCP and 3D compensation (already published in Orchestra v1.5-1);
* modified dynamic modes features support (exact positioning, fly mode and look ahead mode);
* added communication protocol between OrchestraInterpreter and OrchestraRTM.
DRIVERS
Mechatrolink:
* updated diagnostic managemenent;
* minor bugfixing in example control loops;
* added 30 axes configuration example control loop with gantry axes, alarm and asynchronous drive on management.
CANopen:
* added SDO exchange command in CanOpenLib.
Profibus:
* new Hilscher Profibus-DP RTDM driver for Linux/RTAI supporting Hilscher CIF 50-PB board.
Ethercat:
* EtherCAT Master based on IgH EtherCAT Master v1.3.2;
* new Orchestra EtherCAT realtime module performing communication between
user space applications and kernel space EtherCAT Master.
HMI
HMI:
* added a new main panel to log messages coming from all connected Orchestra entities;
* diagnostic panel facilities and look and feel improved;
* added RTM Rapid Start and Stop commands;
* added online help in OrchestraRTM panel;
* control Loop tree added in OrchestraCore panel to improve its layout and HMI performance;
* moved OrchestraCore entities log saving from HMI client disk to OrchestraCore host.
DEVELOPMENT TOOLS
Logic Programming:
* support for user libraries;
* added DLP editor for writing POUs in C/C++ programming languages;
* support for Profibus boards and serial port;
* handled monitoring of POUs runtime evolution;
* support for running project in debug mode: breakpoints setting/resetting and execution resuming;
* XNC configuration for interaction between RTM and Core;
* support for interaction between RTM and Interpreter;
* support for array types on ladder function blocks;
* support for simple types of analog variables in IO boards;
* variable autocompletion by type.
PLC Library:
* implemented CANopen library and standard function blocks: timers, counters, edge detectors.
Designer:
* full support for undo/redo;
* better interaction between XMI and XMP dialog windows;
* multiple access point to configure the data model;
* Control Loop modules auto-arrange;
* DLC editor utilities and look and feel enhanced;
* graphical facilities as zooming, selection, cut and paste improved.
Builder:
* added orchestraLibrary to support parameters with lowerLimit and upperLimit.
EXAMPLES
Example Library CNC:
* added ExampleLibraryCNC (already published in Orchestra v1.5-1);
* updated control loop with compensation modules.
BUGFIXES
Various bugs fixed in all the suite components.