V2.9.0.0

System Requirements

Using the library with other versions of software or firmware may have results other than described in the present documentation.

WARNING

UNINTENDED EQUIPMENT OPERATION

oBe sure that the software and firmware are of the versions supported by this library.

oContact your Schneider Electric service representative for compatibility information.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Library Information

Version identification

Description	Version
RoboticModule	V2.9.0.0

Hardware/Firmware Information

Version identification

Description	Version
PacDrive LMC Eco	V1.60.3.3 or greater
PacDrive LMC Pro	V1.60.3.3 or greater
PacDrive LMC Pro2	V1.60.3.3 or greater

Software Information

Version identification

Description	Version
EcoStruxure Machine Expert	V1.1

New Features

oAdditional Output Variables q_lrPeriodStart and q_lrPeriodLength for IF_Configuration.GetConfiguredDrive

To read the configured period data for an auxiliary axis, the outputs q_lrPeriodStart and q_lrPeriodLength were added.

oIF_ConfigurationAdvanced.xDisableTrackingEncoderCheck

The parameter verifications of FeedConstant, GearIn, GearOut, and Direction for the tracking encoder against the corresponding parameters of the velocity source can be disabled.

oIF_ConfigurationAdvanced.xSetTrackingEncoderParameters

The parameters FeedConstant, GearIn, GearOut, and Direction of the tracking encoder are set automatically fitting to the corresponding parameters of the velocity source.

oIF_Configuration.User6Ax(…)

With this method, the robot can be configured as a six axial user-configured robot with six degrees of freedom.

oOperation Mode Service added

ET_OpMode.Service was added. This operation mode was added for Schneider Electric robots.

Mitigated Anomalies

oIF_Homing.xResetHomeOk

xHomeOk is only reset if IF_Homing.xResetHomeOk is called with the value TRUE.