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 V4.4
oSoMachine Motion V4.4 SP1
PacDrive 3 V4.4
oPacDrive LMC Eco V1.56.15.12 or greater
oPacDrive LMC Pro V1.56.15.12 or greater
oPacDrive LMC Pro2 V1.56.15.12 or greater
oIF_RobotConfiguration.Gantry2Ax(…)
oWith this method, the robot can be configured as a biaxial Gantry robot with two degrees of freedom.
oIF_RobotFeedback.ralrRefPositionAuxAx
oThe reference position of auxiliary axes can be read even if the robot is disabled.
oIF_RobotMotion.TransformCoordinate(…)
oA coordinate can be transformed into the mechanical coordinate system.
oGlobal constants to reduce size of memory required by FB_Robot
Several global constants were introduced to reduce the size of memory required by the FB_Robot.
oGc_udiMaxNumberOfConnectedPaths
oGc_udiMaxNumberOfZones
oGc_udiMaxNumberOfLinearSegments
oGc_udiMaxNumberOfCircularSegments
oGc_udiMaxNumberOfSplineSegments
oGc_udiMaxNumberOfJointSegments
oGc_udiMaxNumberOfTrackingEvents
oGc_udiMaxNumberOfStopsOnPath
oGc_udiMaxNumberOfArmConfigurationEvents
oGc_udiMaxNumberOfAuxAxSyncMovements
oGc_udiMaxNumberOfOrientationSyncMovements
oGc_udiMaxNumberOfAuxAxAsyncMovements
oGc_udiMaxNumberOfOrientationAsyncMovements
The former library internal value for available objects in the list was 100. The value for the new global constants is reduced to 20. You may edit these global constant values in the range of 0 to 100. If you edit the constants with a value greater than 100, the value is set to 100 by the library.
oMonitoring work envelope of SchneiderElectricRobot
oThe monitoring of the work envelope is fully support if the robot is configured by IF_RobotConfiguration.SchneiderElectricRobot(…) in combination with IF_RobotConfigurationAdvanced.AdditionalTransformationTCP(…) and auxiliary axes are used.
oIF_RobotFeedback.rstRefPositionTCP
oA configured IF_RobotConfigurationAdvanced.AdditionalTransformationTCP(…) is taken into account even if the robot is disabled.
oFB_EllipticSpline.CalcSplineExtended(…)
oThe diagnostic message ET_DiagExt.TargetInvalid is returned correctly if the target of the half spline is higher than the configured absolute height of the spline.
oIF_RobotFeedback.xOnPath
oIf the robot is not on path, the feedback returns FALSE.
The feedback becomes TRUE after calling IF_RobotMotion.ClearSegamentsFromId(i_udiSegmentId := 0).
oCompiler warning - C0410: COMPATIBILITY WARNING (Properties of type REFERENCE TO)
oThe compiler advisory no longer occurs with this library.
oIF_RobotFeedbackConnectedPath.etMovementState
oThe feedback is fully supported.
oIF_AdditionalTransformationTCP.Change(…)
oCalling the method Change(…) more than once without robot path motion in between is fully supported.
