NOTE: This library is for projects exclusively.
The library RoboticModule V1.5.1.0 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
oIF_Configuration.AddLinearTrackingSystem
With this configuration method, a linear tracking system can be added to the robot.
oIF_Configuration.GetLinearTrackingSystem
With this method, the data of a configured linear tracking system of the robot can be read.
oIF_ConfigurationAdvanced.ModifyCoordinateSystem2
With this method, a coordinate system of the robot can be modified.
In contrast to the method IF_ConfigurationAdvanced.ModifyCoordinateSystem this method has the additional input parameter i_etOrientationConfiguration of type ROB.ET_OrientationConfiguration.
oST_ModuleInterface.i_xRobotStart
This input variable can be used to initiate a stop on path of the robot movement without sending the module command ET_Cmd.Hold.
This can be helpful especially in ET_OpMode.Auto.
oNone
oThe diagnostic message ET_DiagExt.DriveNotReady occurred when the command ET_Cmd.Auto followed by the command ET_Cmd.Start was sent and the reaction TPL.ET_Reaction.AsyncStop or TPL.ET_Reaction.SyncStopEL was active before.
The commands can be send without the mentioned diagnostic message now.
