NOTE: This library is for projects exclusively.
The library "Robotic" V1.6.1.0 is released for projects exclusively.
Gc_xLibraryForProject : BOOL := TRUE;
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 3 Controller LMC101C
oPacDrive 3 Controller LMC201C
oPacDrive 3 Controller LMC300C
oPacDrive 3 Controller LMC400C
oPacDrive 3 Controller LMC600C
oSoMachine Motion V4.2
PacDrive 3 V4.2
oPacDrive LMC x00C V1.53.5.6 or greater
oPacDrive LMC x01C V1.53.5.6 or greater
oAny cartesian feedback of IF_RobotFeedback refer to the coordinate system ET_CoordinateSystem.CSR.
oIF_RobotConfiguration.AddLinearTrackingSystem
With this configuration method, a linear tracking system can be added to the robot.
oIF_RobotConfiguration.GetLinearTrackingSystem
With this method, the data of a configured linear tracking system of the robot can be read.
oIF_RobotConfigurationAdvanced.ModifyCoordinateSystem2
With this method, a coordinate system of the robot can be modified.
In contrast to the method IF_RobotConfigurationAdvanced.ModifyCoordinateSystem, this method has the additional input parameter i_etOrientationConfiguration of type ET_OrientationConfiguration.
oIF_RobotMotion.ChangeCoordinateSystem
With this method, a change of the coordinate system, for example to a configured tracking system, can be initiated.
oIF_RobotMotion.SetMaxTrackingAccelerationResultant
With this method, the maximum resulting acceleration (change of the velocity per time unit), with which a tracking movement of the robot has to be started or stopped can be determined.
oIF_RobotMotion.GetMaxTrackingAccelerationResultant
With this method, the configured maximum resulting acceleration (change of the velocity per time unit), with which a tracking movement of the robot has to be started or stopped can be read.
oIF_RobotFeedback.xInCoordinateSystem
If the robot is changing the coordinate system, this property is set to FALSE, otherwise the value is TRUE.
oIF_RobotFeedback.etCurrentCoordinateSystem
Coordinate system in which the robot is moving. The coordinate system can be changed by call of the method IF_RobotMotion.ChangeCoordinateSystem
oIF_RobotFeedback.rstLastTarget
With this property, the last sent target can be read. The target is returned in the coordinate system set by IF_RobotMotion.ChangeCoordinateSystem and can be used for example as start point for an elliptic spline to be calculated with FB_EllipticSpline.
The feedback interface has been added and is a property of IF_RobotFeedback.
It gives feedback about a tracking movement of the robot.
oIF_RobotFeedbackTrajectoryStorage.ifSpace of type IF_RobotFeedbackSpace
Interface with return values of the robot motion in the cartesian space. Only the path movement, without a tracking movement, of the robot is returned.
oIF_RobotFeedbackTrajectoryStorage.udiAvailableTrackingEvents
Available tracking events used if IF_RobotMotion.ChangeCoordinateSystem is called to change the coordinate system in which the robot is moving.
oFB_EllipticSpline.CalcFullSpline
The output q_lrApexScalingFactor has been added.The method calculates an optimized apex automatically.
If the value is not equal to 0.0, the apex of the elliptic spline is moved either towards the start position or towards the target position, where 0 defines the center position between the start position and the target position. If the value is positive, the apex is moved towards the target position. If it is negative, the apex is moved towards the start position.
oNone
oIF_RobotConfiguration.SchneiderElectricRobot
The calculation of the stop position to verify the work envelope, in case a Schneider Electric robot is configured, is fully supported in the present version.
oThe calculation of the motion profile is fully supported in the present version in case the robot is decelerating towards the target and a new move command is sent and added to the connected path.
oIF_RobotFeedback.udiPreviousSegmentId, udiPreviousSegmentId and udiPreviousSegmentId
Calling the properties is fully supported in the present version and does not cause a hardware watchdog.
Changing the VelOverride is fully supported in the present version.
oIn case of FB_Robot.xEnable and FB_Robot.xStart are set to FALSE at the same time, the robot uses the defined emergency parameters to decelerate the path motion.
