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. |
Version identification
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Description |
Version |
|---|---|
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RoboticModule |
V2.10.0.0 |
SoMachine Motion V4.4 SP1
Version identification
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Description |
Version |
|---|---|
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PacDrive LMC Eco |
V1.56.21.13 or greater |
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PacDrive LMC Pro |
V1.56.21.13 or greater |
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PacDrive LMC Pro2 |
V1.56.21.13 or greater |
EcoStruxure Machine Expert V1.2
Version identification
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Description |
Version |
|---|---|
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PacDrive LMC Eco |
V1.62.5.4 or greater |
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PacDrive LMC Pro |
V1.62.5.4 or greater |
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PacDrive LMC Pro2 |
V1.62.5.4 or greater |
Version identification
|
Description |
Version |
|---|---|
|
SoMachine Motion |
V4.4 SP1 |
For the related hardware/firmware information, see above.
Version identification
|
Description |
Version |
|---|---|
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EcoStruxure Machine Expert |
V1.2 |
For the related hardware/firmware information, see above.
oIF_ConfigurationAdvanced.xUseEStopParameterForEstimatedStopPosition
After the configuration property is set to TRUE, the feedback of the estimated stop position is calculated based on the configured emergency parameters for path movement.
Affected feedback of estimated stop position:
oIF_RobotFeedback.ifSpace.rstEstimatedStopPosition
oIF_RobotFeedBack.ifTrajectoryStorage.ifSpace.rstEstimatedStopPosition
The methods can be used to apply a set of parameters or retrieve a set of parameters of a tracking system.
Introduced tracking parameter ROB.ST_TrackingParameters.lrAccelerationZeroThreshold:
This value defines an acceleration limit for a tracking system. For accelerations below this limit, the state of the tracking system is treated as constant velocity or standstill during desynchronization phase.
None
