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
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
Integration of SCARA
oIF_Configuration.Scara4Ax()
The RoboticModule can be configured as a SCARA with four axes including four degrees of freedom. (Refer to IF_Configuration.Scara4Ax()).
The fourth axis D is supported by functionalities of:
oIF_Homing
oIF_Manual
oIF_SoftwareLimits
oIF_Configuration.BrakeReleaseButton()
The brake release button for the Lexium S Robot is configured by IF_Configuration.SchneiderElectricRobot(). (Refer to IF_Configuration.BrakeReleaseButton()).
oOrientation
ROB.ET_RobotComponent.OrientationZ is introduced if the RoboticModule is configured as a SCARA.
oIF_Configuration.SchneiderElectricRobot() Robot S-Series
The orientation is supported by functionalities of:
oIF_Configuration
oIF_ConfigurationAdvanced
oIF_Manual
oIF_SoftwareLimits
Schneider Electric Robot
oIn case IF_Configuration.SchneiderElectricRobot() was called to parametrize the RoboticModule and a diagnostic message from the Schneider Electric robot is forwarded to the RoboticModule, an exception is sent to the template exception list.
oNone
oHoming
The homing mode IF_Homing.LimitSwitch is fully supported in this version regarding the parameterization of IF_HardwareLimit.etAuxAxSignalType.
oManual
In case of TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH an active jogging movement is stopped with configured emergency parameters.
