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 (Selective Compliance Assembly Robot Arm)
oIF_RobotConfiguration.Scara4Ax()
oThe RoboticModule can be configured as a SCARA robot with four axes including four degrees of freedom (IF_RobotConfiguration.Scara4Ax()).
oOrientation
ROB.ET_RobotComponent.OrientationZ is introduced if the robot is configured as a SCARA.
oIF_RobotConfiguration.Scara4Ax()
oIF_RobotConfiguration.SchneiderElectricRobot() Robot S-Series
The orientation is supported by functionalities of:
oIF_RobotConfigurationAdvanced
oIF_RobotMotion.MoveJ()
oWith the method MoveJ(), a motion job can be issued to move in a point-to-point motion to a target position in three-dimensional space. It is also possible to perform a modification of the robot arm configuration, for example from right to left arm configuration in case of a SCARA.
oWith IF_RobotFeedbackScara4Ax, the Cartesian positions of the motors A to D in the mechanical robot coordinate system can be read.
oNone
StartPointNotIdentical
The diagnostic message ET_DiagExt.StartPointNotIdentical occurred on sending a IF_RobotMotion.MoveS() motion command under the following conditions/situation:
oIF_RobotFeedback.rstLastTarget is used for calculating the spline table.
oIF_RobotConfigurationAdvanced.AdditionalTransformationTCP() is parametrized.
oIF_AdditionalTransfromationTCP.Change() is called more than once without a path movement in between.
oTracking is active during sending the IF_RobotMotion.MoveS() motion command.
The diagnostic message no longer occurs in this situation.
