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 SP1
PacDrive 3 V4.4 SP1
oPacDrive LMC Eco V1.56.21.13 or greater
oPacDrive LMC Pro V1.56.21.13 or greater
oPacDrive LMC Pro2 V1.56.21.13 or greater
oIF_RobotMotion.SetCoordinateSystem(…)
You can set the coordinate system in which the robot should move.
After calling this method successfully, the path motion commands, for example, IF_RobotMotion.MoveL(...) and IF_RobotMotion.MoveS(...), will interpret the targets in that coordinate system. The feedback value IF_RobotFeedback.rstLastTarget is also returned in that coordinate system.
oIF_RobotMotion.CangeCoordinateSystem2(…)
By calling the method, a change to a configured coordinate system can be requested.
The maximum resulting acceleration must be set by IF_RobotMotion.SetMaxAccelerationResultant for the robot component ET_RobotComponent.Tracking.
If possible, the resulting acceleration used for tracking is reduced to a value that the change to the requested coordinate system is finished at the requested end position of the path motion defined by i_udiEndSegmentId and i_lrEndOffset.
If it is not possible to reduce the resulting acceleration for tracking, the resulting acceleration for tracking is limited to the configured value set by IF_RobotMotion.SetMaxAccelerationResultant(…) for the robot component ET_RobotComponent.Tracking.
By calling the method the execution of sent commands, for example motion commands like IF_RobotMotion.MoveL(…) or IF_RobotMotion.MoveS(…), can be blocked or released.
None
oJump on axis reference position on orientation movements
Calling IF_RobotMotion.ClearSegmentsFromId() with i_udiSegmentId equal to 0 in combination with motion commands for orientations has been improved. Calculating axes reference positions of the movement is improved.
oCalculating a Motion Profile
Under 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.
oWatchdog exception
Under certain conditions, a watchdog exception occurred during sending a move command (MoveL, MoveS, MoveC) when the limitation of the resulting acceleration for space movements is configured and the move command was added to the connected path. Adding a move command to the connected path is improved.
oCalculating Cartesian reference positions
Calculating the motion profile was not successful due to a configured limitation of the resulting acceleration space. The move command would be added as new connected path. Calculating Cartesian reference positions of a spline movement is improved.
oController exception occurred on calling the method IF_RobotMotion.MoveJ(…)
Under certain conditions, a controller exception occurred on calling the method IF_RobotMotion.MoveJ(…). Calling the method has been improved.
