Using the library with other versions of software or firmware may have results other than described in the present documentation.
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UNINTENDED EQUIPMENT OPERATION |
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oBe sure that the software and firmware are of the versions supported by this library. oContact your Schneider Electric service representative for compatibility information. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
oPacDrive LMC Eco
oPacDrive LMC Pro
oPacDrive LMC Pro2
oSoMachine Motion V4.3 SP1
PacDrive 3 V4.3 SP1
oPacDrive LMC Eco V1.54.20.3 or greater
oPacDrive LMC Pro V1.54.20.3 or greater
oPacDrive LMC Pro2 V1.54.20.3 or greater
oIF_RobotConfiguration.AddLinearTrackingSystem2(…)
A linear tracking system can be added to the robot. Information about the tracking direction in relation to the velocity source: The tracking direction can be configured along one of the positive Cartesian axes, X, Y, or Z of the coordinate system defined within the method. The velocity source is mapped to this axis. To read the configured tracking direction the output q_etTrackingDirection is added to the method IF_RobotConfiguration.GetLinearTrackingSystem(…).
oIF_RobotMotion.TransformCoordinate(…)
A position described by the Cartesian X, Y, and Z coordinates and a predefined coordinate system can be transformed into a corresponding position described in another coordinate system.
oIF_RobotMotion.SetStopOnPath(…)
A command can be issued for the robot to stop the movement at a certain position on an existing connected path.
oIF_RobotMotion.GetStopOnPath(…)
The parameters of a stop-on-path sent to the robot by IF_RobotMotion.SetStopOnPath(...) can be read.
oIF_RobotMotion.ResetStopOnPath(…)
A stop-on-path sent to the robot by IF_RobotMotion.SetStopOnPath(...) can be reset.
oNone
oA cold start of the robot is fully supported in the present version in case a Schneider Electric robot is configured by the method IF_RobotConfiguration.SchneiderElectricRobot(…) and the robot was jogged outside the working envelope.
oIn several situations, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot in connection with calculating the motion profile. Calculating the motion profile of the robot has been improved in order to reduce the occurrence of errors.
oThe diagnostic message ET_DiagExt.StartPointNotIdentical of the method IF_RobotMotion.MoveS(...) does not occur if tracking is active, IF_RobotMotion.ClearSegmentsFromId(i_udiSegmentId := 0) is called and the first spline point of a spline table is initialized with IF_RobotFeedback.rstLastTarget.
