A customer asked for a parts total to count the number of parts on a bundle tag. We did not have this. What we did have was a total by item.

Details on the Macro can be found in the PMACROS document.

On a tile machine Tools 1 is expected to be used for programming Tile Steps. When the machine is configured for dual forming presses, Tool 2 is reserved for the configuration of the second forming press. However, it must not be programmed in the pattern.

There was a test added to the part calculations that detected ths condition. The test displayed the wrong error message. It displayed an error message that is reserved for the Alternating Press option. In addition, the conditions when it would display the error were not correct either.

The test now only fails when the machine is configured for two forming presses.It also displays an error message to indicate Tool 1 is only to be used to configure Tile operations, not Tool 2.

The CtrlX drive expects the EtheerCAT Distributed Clock to be configured during Pre Op mode vs the other drives expecting it to be configured in Safe Op mode.

To preserve the best chance for older and newer drives to both operate, the EtherCat code was modified to support both.

The CtrlX drive is also more finicky about the synchronization of the clock. The code was modified to test the initial synchronization and use an offset to do the bulk adjustment. The code allows for up to 30 seconds for the clock to syncronize but with the initial bulk adjustment and a new test, in most cases it should only take a second or two.

The code was modified to handle a mixture of drives, those that want the DC to be configured in Pre Op and those who expect Safe Op.

The Min and Max Jitter values displayed in the diagnostic screen were filtered values, providing a false sens of the true min and max values.

Other diagnostic data is now being captured but only to the engineering serial output.

Sending the EtherCat cyclical frame needed to be seperated from the local encoder feedback capture and loop calculation. We needed to provide a larger safety margin for when to send the frame, while also trying our best to syncronize the EtherCat feedback capture with the XL local capture. More detail can be found in the Design_EC_Frame_Scheduling.md document in source control.

The symptoms of the issue were random negative, followed by immediate positive spikes in the CL Data feedback. This was caused by randomly getting old feedback for one sample that would catch up on the follwing sample.

While testing, we discovered an unexplained 100usec positive jitter that was eventaully tracked down to a 1024 byte mailbox size on the ctrlX. This is three times larger than the Indradrive. The full mailbox must be read. This equates to ~100usec on the bus vs ~25usec that the Indradrive has. While reserching, we implemented an errata fix on the NIC that was not provent to be required.

The new compiler for the XL200 code is producing less efficient code, causing 0xF0001 Task errors on dual die accelerators.

We believe this is due to inline math and other functions not being enabled.

Inline functions are now expanded inline for the application and the OS. They are not expanded inline in the PEG library due to an issue with how the libaries get built for the complex functions in PEG.