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
oResulting Acceleration Limitation
oIF_RobotFeedbackConnectedPath.xMaxAccelerationResultant
The feedback property indicates whether the motion profile of the connected path is modified to limit the resulting acceleration of the space movement.
oVelocity Override
oThe range of IF_RobotMotion.lrVelOverride has been changed.
Previous range: 0.0 ≤ Value ≤ 200.0
New range: 0.0 ≤ Value ≤ 100.0
The calculated maximum path velocity, not to exceed the motion parameter limits configured for a synchronous auxiliary axis movement, is also influenced by the velocity override.
In general, a greater value for the maximum path velocity can be set by calling the method IF_RobotMotion.SetMaxVelocity() using the robot component ET_RobotComponent.Path.
oCalculating the Estimated Stop Position
oUnder certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot during calculating the estimated stop position of the TCP on the connected path.
oCalculating the estimated stop position is improved.
oCalculating a Motion Profile
oUnder certain conditions, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by a move command (MoveL, MoveS, MoveC) in connection with calculating the motion profile of the connected path.
Calculating the motion profile is improved.
