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 V4.3 SP1
PacDrive 3 V4.3 SP1
oPacDrive LMC Eco V1.54.20.3 or greater
oPacDrive LMC Pro V1.54.20.3 or greater
oPacDrive LMC Pro2 V1.54.20.3 or greater
oResulting Acceleration Limitation Space
oIF_RobotMotion.SetMaxAccelerationResultant(…)
By using the robot component ET_RobotComponent.Space, the maximum resulting acceleration can be configured to limit the space movement of the robot.
oIF_RobotMotion.GetMaxAccelerationResultant(…)
By using the robot component ET_RobotComponent.Space, the configured maximum resulting acceleration to limit the space movement of the robot can be read.
oIF_RobotFeedback.ifSpace.lrCurvatureA
Approximation of the curvature of the space movement considering a tracking movement.
oIF_RobotFeedback.ifTrajectoryStorage.ifSpace.lrCurvature
Curvature of the space movement without considering a tracking movement. Only the movement caused by move commands is considered.
oIF_RobotFeedback.ifCurrentConnectedPath.lrMaxAccelerationResultant
Configured maximum resulting acceleration for space movement for the connected path.
oCalc Spline Extended
oFB_EllipticSpline.CalcSplineExtended(…)
A parameterizable elliptic spline can be calculated for pick-and-place applications.
oVelocity Limitation Axes
oIF_RobotConfigurationAdvanced.SetVelocityLimitationAxes(…)
A velocity limitation for robot axes can be configured. The velocity is limited to the configured value in the drive parameter MaxVel rated with a configurable limit factor.
oIF_RobotConfigurationAdvanced.GetVelocityLimitationAxes(…)
The configuration of the velocity limitation for robot axes can be read.
oIF_RobotFeedbackVelocityLimitation
Feedback values regarding the functionality velocity limitation axes.
oAdditional Transformation Axes
oIF_RobotConfigurationAdvanced.AdditionalTransformationAxes(…)
A user-defined transformation for the robot axes, for example mechanical coupled axes, can be configured.
oTransform Coordinate
oIF_RobotMotion.TransformCoordinate(…)
The Application Logger entry for a successful call of the method has been removed.
oEstimated Stop Position
oIn several situations, the diagnostic message ET_Diag.UnexpectedProgramBehavior was returned by the robot in connection with calculating the estimated stop position of the TCP on the connected path. Calculating the estimated stop position is improved.
oModify Coordinate System
oIf the robot was enabled, no motion commands were executed and IF_RobotConfigurationAdvanced.ModifyCoordinateSystem(…) or IF_RobotConfigurationAdvanced.ModifyCoordinateSystem2(…) was called, the diagnostic message ET_Diag.LimitReached and ET_DiagExt.ExcessiveTrackingDeviationLimitExceeded was returned by the robot. This situation is fully supported in the present version.
