The new version of Orchestra Control Engine has been released and is ready to download.

ORCHESTRA CONTROL ENGINE v2.6 - Release notes


MAJOR IMPROVEMENTS

FRAMEWORK

RTOS:
    * new kernel: Linux 2.6.24.7 vanilla RTAI-patched;
    * sw updated: RTAI 3.7.1, RTnet 0.9.11, comedi/comedilib CVS 2009-09-21.

HostSupervisor:
    * added support to new OrchestraCore and OrchestraRTM parameters in Orchestrad.

Conf:
    * major bugfixing and GUI design improved;
    * added support to new OrchestraCore and OrchestraRTM parameters.

Core:
    * added macros to issue ERROR and ALARM messages without stopping execution;
    * CT_POLL_SIGNALS ACT request error response enriched.

RTM:
    * implemented "retain variables handling" feature;
    * access to interface variables improved;
    * check on periodic tasks schedulability improved;
    * added macros to issue ERROR and ALARM messages without stopping execution.


MOTION CONTROL

Cartesian Interpolation Modules:
    * added M function code information;
    * bug fixed in M function and read/write parameters instructions handling
       during modalities changes and start/stop events;
    * updated diagnostic messages.

Bspline and NURBS Interpolation Modules:
    * updated diagnostic messages.

CNC Framework:
    * added error status management;
    * added M function code information;
    * bug fixed in M function and read/write parameters instructions handling
       during modalities changes and start/stop events;
    * updated diagnostic messages.

Interpreter:
    * added user message syntax;
    * coordinate system rotation and nested reference systems
       functionalities implemented;
    * added PLC parameters read/write syntax.


DRIVERS

Mechatrolink:
    * reset support added and diagnostic handling modified
       in example control loops;
    * added getPositionError() method and filterType parameter
       to interpolate() method in class Mechatrolink;
    * Makefile modified to include RTAI-patched kernel header files.

Ethercat/CanOpen/Profibus/Sercos:
    * Makefile modified to include RTAI-patched kernel header files.


HMI AND DEVELOPMENT TOOLS

HMI:
    * alarms view added in multichannel jog and interpreter panel.

Logic Programming:
    * Italian language support;
    * SFC/FBD/Ladder languages syntax highlighting;
    * C autocompletion restyled;
    * support for comments in POUs and variables;
    * watch import from XML;
    * toolbar restyled;
    * support for Jump and Return in FBD language;
    * advanced scheduling options;
    * support for Cold/Warm start.

PLC Lib:
    * added standard function libraries:
        - Boolean;
        - BitShiftLeft;
        - BitShiftRight;
        - Comparison;
        - Conversion;
        - Mask;
        - Numeric;
        - NumericMonoIn;
        - Selection;
        - String;
        - Trigonometric;
    * added Diagnostic Library to display diagnostic messages on HMI.

Designer:
    * added XNC file creation and loading utilities;
    * DLC editor updated.


EXAMPLES

Example Library CNC:
    * added Constant and ZeroConstant modules in control loops;
    * updated CartesianInterpolator, MotionSupervisor, Zero, Jog, CurrentInfo,
       DiagnosticManager, InterpreterInterfaces, ChannelsDemux modules in control loops.


BUGFIXES

Various bugs fixed.