组件

与旧版本相比的变化

配置

虚拟托盘对角排列

在自动创建虚拟托盘时，托盘从 0,0 开始对角放置。如果托盘放置在定子电机外，则返回无效配置。针对 120 x 120 托盘进行了修正。

库 - McAcp6D

确认

输出 "确认 "的功能块需要一个额外周期进行重置。

配置无效需要重新启动 6D 控制器和 BR PLC。

写入无效配置需要重新启动 6D 控制器和 BR PLC。

功能块出错后重新启动

功能块出错后重新启动 BR PLC 会导致出现无效配置信息。必须为 6D 控制器和 BR PLC 供电。

无论托盘数量多少，在模拟中更新托盘位置的间隔时间为 80 毫秒。

在模拟中，托盘位置更新之间的延迟时间始终为 80 毫秒。

如果循环时间≠1 毫秒，则多路读取位置冻结。

如果循环时间配置为 1 毫秒以外的值，则多路读取位置更新会中断。

托盘定型名称引用

穿梭机定型名称引用即使正确，也会被返回为无效。

删除托盘定型：未删除活动定型。

删除活动托盘定型不会重置该定型的参数。

从多穿梭器缓冲区的命令中删除了选项 "获取状态"。

在MC_BR_AsmBuffer_Acp6D和MC_BR_ShGroupBuffer_Acp6D 中获取已从选项中删除的状态计数器的值。

未设置功能块MC_BR_MoveInPlaneAsync_Acp6D的 Done

即使功能块已结束，也从未将输出 Done 设为 "true"。

库

库与 ARM 处理器不兼容

库未针对 ARM 处理器编译。

自动化帮助

已定义参数链接

未正确链接多个功能块的参数链接。

MC_BR_AsmGetSegment_Acp6D 中图像中的托盘引用而非定子电机引用。

Component

Changes from older versions

Configuration

Virtual shuttles arranged diagonally

The shuttles were placed diagonally from 0,0 during automatic creation of the virtual shuttles. Returned an invalid configuration if shuttles were placed outside a segment. Corrected for 120 x 120 shuttles.

Library - McAcp6D

Acknowledge

Function blocks with output Acknowledge require 1 additional cycle for resetting.

Invalid configuration requires a restart of the 6D controller and the BR PLC.

Writing an invalid configuration required a restart of the 6D controller and the BR PLC.

Restart after function block error

Restarting the BR PLC after a function block error resulted in an invalid configuration message. The 6D controller and BR PLC had to be supplied with power.

80 ms between updating the shuttle position in simulation, regardless of the number of shuttles.

There was a constant delay time of 80 ms between shuttle position updates in simulation.

Multiplex read position freezes if cycle time ≠ 1 ms.

Multiplex position updates were interrupted if the cycle time was configured to a value other than 1 ms.

Reference to the name of the shuttle stereotype

Shuttle stereotype name references were returned as invalid even though they were correct.

Deleting a shuttle stereotype: The active stereotype is not deleted.

Deleting an active shuttle stereotype did not reset the parameters of that stereotype.

Option "Get status" has been removed from the commands for the multi-shuttle buffer.

Get the value of the status counter that was removed from the option in MC_BR_AsmBuffer_Acp6D and MC_BR_ShGroupBuffer_Acp6D.

Done of function block MC_BR_MoveInPlaneAsync_Acp6D not set

Output Done was never set to "true" even though the function block was ended.

Library

Library not compatible with ARM processors

The library was not compiled for ARM processors.

Automation Help

Parameter links defined

The parameter link of several function blocks was not linked correctly.

Shuttle reference instead of segment reference in image in MC_BR_AsmGetSegment_Acp6D.